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Control a motor with joystick in ros, hbridge motor drive and rpi3

Hello,

I want to control a small dc motor using a joystick. Similar to an rc car. I am using a raspberry pi 3 and an hbridge motor driver. I have already setup the joy package and can see the outputs each button gives. I need be able to control the motor speed via the a code, I'm familiar with python and c++. I just need help developing my code. I'm new-ish to ros and have already went through most of the tutorials on the ros wiki. Any help is much appreciated!