How to implement ROS serial between ROS and STM32

edit

Hello, I am Aman Aggarwal and embedded systems engineer from India. I have been working on an autonomous mobile robot for the purpose of material handling. I have been using STM32F401CCU6 to control the motors and implement odometry. Now I wish to exchange this data serially over ROS using ROS Serial.

I am doing using ROS Melodic and STM32CUBE IDE. I created a catkin workspace in my ubuntu OS and loaded the basic files in my STM32 project. Can someone guide me on how the process is actually done and what things should I work on to implement this successfully.

Thank you!