I have a Jetson Nano and Adafruit Motor Shield v3. After looking over the documentation for the Motor Shield it appear that you can talk to it with 3/5V I2C. So I thought about going down the rabbit hole to try and access the GPIO from a ROS package.
Is there a file that I can include like a header file (e.g. gpio.h) that would facilitate such an endeavor?
I think it would be neat to send commands directly instead of using ROS Serial and an arduino with a shield installed.