Can somebody please share a small example how to run a motor?

[ahkub]

Dear All,
I'm running ROS Noetic on Ubuntu 20.04.6 LTS on an Intel NUC PC.
A Maxon EPOS2 controller with a Maxon DC motor with encoder is connected on USB (or alternatively on RS232 via USB to RS232 converter).
I can install the ROS package "epos_hardware" and run it.
But I do not understand how to start the motor. I think I need to publish a message.

So I was wondering if somebody please could share a small example "how to run a motor for dummies"?

Is there somebody who actively uses this repository today? Any reply is much appreciated. Alf