you control with this package mavros and hoverbord-driver with ros hoverboard-driver ,mavros and joy controller package
you download your workspace hoverboard-driver and mavros for pixhawk or ardupilot
graph LR
K[Joy] --joy_axes--> D{hoverboard_controller}
A[mavros] --pixhawk or apm mavros servo pinout--> D
D --> E((hoverboard_driver))
