Hi @liujpatrick, welcome to the forum 
I don’t have experience with using ROS, but from a search of our forums these seem like the most relevant posts/comments:
- T200 python manual control error - #2 by EliotBR
- ROS2 on blueOS software - #6 by MorgannLBT
- BlueROV2 PWM Thruster Control
Feel free to follow up if those aren’t helpful / if something in particular isn’t clear or isn’t working as expected.