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I would recommend reading up on ros_control first. It can be kind of tricky to understand: http://wiki.ros.org/ros_control

For connecting ros_control with your hardware, this guide is a decent start.

https://slaterobots.com/blog/5abd8a1ed4442a651de5cb5b/how-to-implement-ros_control-on-a-custom-robot

I hope this will help, but you'll have to specify your problem more to get a less generic answer.