ROS turtle control

I need to make 2 nodes with 10 Hz frequency in interval [10,-10] and after I need to make another 2 nodes for TURTLES to move with speed that is generated by first 2 nodes and controled (to increase if it + value, to decress if it - value).
The message needs to be send with "gemoetry_msgs::Twist" on topic "cmd_vel"