Hello,

I'm currently working on a project that requires me to control a small dc motor( similar to that in a toy car) with a controller(ps3, xbox, etc.) using a Raspberry Pi 3, H bridge motor driver and ROS. I am familiar with python, c++. I'm getting more and more familiar with ROS I understand topics,subscribers,publishers,etc. In short I need help with getting started with the code to have my controller publish commands that will be read and interpreted by the raspberry pi which will then tell the motors what to do, start stop change direction speed up etc. Any help would be greatly appreciated. Also any arduino source code would be helpful I usually can close the gaps between the two.