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The Rosbot 2.0 uses an ASUS Tinker board for low level control. You have the ability to read PWM from the servos but you can also interact with the firmware via rosservice to set PWM: https://github.com/husarion/rosbot-stm32-firmware

$ rosservice call /config "command: 'CSER'
>data: 'V:0 S:1 E:1 P:20000 W:1000 '"