How can I use micro-ros to subscribe to the joint_state messages from rviz in order to actuate a stepper and servo motor?

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I currently working on the hardware interface for my project, but I’m not sure how to make a custom one for 2 different types of motors. I’d like to use a servo and stepper motor, but how can I create a hardware interface that supports these two types of motors together?

I’m also stuck on how to send the positions from the joint_state messages to the motors using micro-ros.

For the servo motor, I’m using a parallax 360 high-speed servo motor. For the stepper motor, I am using a Nema 17.

I’d really appreciate the help!

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