Drive Ardurover via ROS. Which topics to drive?

Hi
I am trying to get my robot to drive via ROS (and mavros) using ardurover. What topics should I send commands to for:
Armed/Disarm
Manual Mode
Steer/Throttle

(I am just trying to send commands to move the motors, not any waypoint navigation)

Notes:

  • Using Ardurover via mavros I can drive the robot via the groundstation on my laptop (so wiring is good and ardurover is good).
  • ROS is connected to Ardurover and I can see topics published with data.
  • ardurover -v
    Raspberry Pi 3 Model B Rev 1.2. (intern: 2)