Does ros depend on package?

edit

Hello guys, it might be a weird question because im new in ros :))

Here it is, once i read AGITR (A gentle introduction to ROS). I learnt that the turtle moves by using node subscribing or publishing topic (turtle1/...).

or the way drone contolled by mavros package (mavros/...)

so.. the question is, how can I make a mobile robot (turtlebot) moving each wheel, read from odometry, know battery capacity, etc. anyway I use Raspy 3 and arduino (the processor and the controller).

Is there any Idea? Thank in advance