script usage

[azbitak-invn]

I'm working with Irobot development kit and we originally had python scripts to drive pycreate 2 (connected to a raspberry pi, python scripts using pycreate2 python lib).
We wanted to move to pycreate3, so I followed the tutorial to install webserver on raspberry pi 4 using ROS2. And I m now able to play with the robot .

I m interested on the example teleop in order to know how to call the robot messages into python scripts.
My first guess was to "connect" my legacy script in order to replace motion command by the one from teleop. Unfortunately I can't find how to call basic robot motion. In the python_example folder I can't find any api, is there using a library that I can reuse for my scripts?
What do you suggest ?

Many thanks