ROS Joystick Teleop and Arduino [closed]

edit

Hye, I already finish this tutorials http://www.ros.org/wiki/ps3joy/Tutorials/WritingTeleopNode. and now, i want to replace the turtlesim to real robot using arduino. I got some teleop node examples which is good for my robot. But the problem is, i dont know where should i start to write a program to arduino which is can listen to Twist msgs that produce by the joystick. My robot is simple such as controlling the motor by joystick. I also finished the rosserial tutorials .