Guidance Needed: Control 4 motors with 2 motor controller using ROS-Driver

[HappySamuel]

Hi

I have 2 SBL2360 motor controllers and 4 BLDC motors (with hall sensors), and my AGV is a Skid Steer driven system. I understand that master-slave through RoboCAN is needed.
But is there any mbs scripts is needed to implement into master motor controller?
Any sample scripts that did the controlling of 4 motors with 2 motor controller to achieve skid steer that i can reference to?
How shall i use this ROS-Driver to control them.

Best,
Samuel