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This question is very vague because there are lots of different motors and lots of different motor controllers that can be interfaced with an arduino.

Here is an explanation of how you could do in a general way:

Components required:

• An arduino that currently controls your motor
• A computer running ROS and a node that publishes data to a topic, such as an integer that corresponds to a motor value that you would like to use as a throttle value for your motor

If you have those two things you can modify the arduino code by adding ROS functionality to it. Do the first of these 3 tutorials: http://wiki.ros.org/rosserial_arduino/Tutorials/Arduino%20IDE%20Setup

• Arduino IDE Setup
• Hello World (example publisher)
• Blink (example subscriber)

With these examples you will gain the knoweledge to allow you to send AND receive data to/from your arduino. With this knoweldge you can have your arduino serve a motor controller, by sending it throttle values and having it convert those throttle values to whatever signals are required to control your motors. Easy peazy lemon squeezy!

Here is an explanation of how you could do in a general way:

Components required:

• An arduino that currently controls your motor
• A computer running ROS and a node that publishes data to a topic, such as an integer that corresponds to a motor value that you would like to use as a throttle value for your motor

If you have those two things you can modify the arduino code by adding ROS functionality to it. Do the first of these 3 tutorials: http://wiki.ros.org/rosserial_arduino/Tutorials/Arduino%20IDE%20Setup

• Arduino IDE Setup
• Hello World (example publisher)
• Blink (example subscriber)

With these examples you will gain the knoweledge to allow you to send AND receive data to/from your arduino. With this knoweldge you can have your arduino serve a motor controller, by sending it throttle values and having it convert those throttle values to whatever signals are required to control your motors. Easy peazy lemon squeezy!

Here is an explanation of how you could do have an arduino control your motors in a general way:

Components required:

• An arduino that currently controls your motor
• A computer running ROS and a node that publishes data to a topic, such as an integer that corresponds to a motor value that you would like to use as a throttle value for your motor

If you have those two things you can modify the arduino code by adding ROS functionality to it. Do the first of these 3 tutorials: http://wiki.ros.org/rosserial_arduino/Tutorials/Arduino%20IDE%20Setup

• Arduino IDE Setup
• Hello World (example publisher)
• Blink (example subscriber)

With these examples you will gain the knoweledge to allow you to send AND receive data to/from your arduino. With this knoweldge you can have your arduino serve a motor controller, by sending it throttle values and having it convert those throttle values to whatever signals are required to control your motors. Easy peazy lemon squeezy!

Here is an explanation of how you could have an arduino control your motors in a general way:

Components required:

• An arduino that currently controls with code that can control your motor
• A computer running ROS and a node that publishes data to a topic, such as an integer that corresponds to a motor value that you would like to use as a throttle value for your motor

If you have those two things you can modify the arduino code by adding ROS functionality to it. Do the first of these 3 tutorials: http://wiki.ros.org/rosserial_arduino/Tutorials/Arduino%20IDE%20Setup

• Arduino IDE Setup
• Hello World (example publisher)
• Blink (example subscriber)

With these examples you will gain the knoweledge to allow you to send AND receive data to/from your arduino. With this knoweldge you can have your arduino serve a motor controller, by sending it throttle values and having it convert those throttle values to whatever signals are required to control your motors. Easy peazy lemon squeezy!