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It can be pretty straightforward. In the end, the easiest way to get started if you have nothing is to use rosserial on an Arduino to convert a Twist command into a set of motor outputs. If you do have a platform driver already, get it compiling with catkin, subscribe to a Twist, and add a basic relationship between the driver output and the Twist input.

Then, I would suggest looking at some of the existing guidelines for advice on extending that driver (ex. REP 103, REP 105, REP 135, REP 107)

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