Using a Raspberry Pi Motor Driver Board

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I recently purchased a Motor Driver board for my Raspberry Pi (This board: http://www.waveshare.com/wiki/RPi_Mot... ).

In general, when making ROS robots using Raspberry Pi Motor driver boards, is one expected to write code to translate movement-related ROS messages into appropriate GPIO outputs for the motor controller (e.g. to move forward, turn, etc)? Or is there a "go-to" RPi motor controller module in ROS that most people use? For context, I understand how to control a simulated ROS robot in Gazebo and how to control a Pioneer P3 robot in real-world using ROS, but I'm unclear how people are controlling RPi motor controllers using ROS. Any help is appreciated!