Write values to Modbus using Jetson Nano

I am an intern in a company and I am a part of a project to make a Ballbot. I am trying to make my motor run using Jetson Nano and Modbus RTU so now searching for information on how to write the Modbus registers through ROS.

The instruction given to me is that to “control the motor by writing values to Modbus using the ROSvon the nano board”

I have been trying and if anyone has any experience please help me how to start

Maybe can reference to this.