The BloX PCA9685 implements a ROS driver to communicate with a PCA9685 PWM Signal Generator over I2C. This chip is used for example in the following Adafruit products:

• Adafruit 8-Channel PWM or Servo FeatherWing
• Adafruit 16-Channel 12-bit PWM/Servo Shield
• Adafruit 16-Channel PWM / Servo HAT for Raspberry Pi
• Adafruit 16-Channel PWM / Servo Bonnet for Raspberry Pi

The implementation of the ROS driver relies on Adafruits ServoKit Library

The BloX PCA9685 subscribes to command velocities on the topic /pca9685/cmd of type std_msgs/msg/Float32MultiArray.