Programming RC car ESC

I am working on a project to use computer to control Radio controlled cars. The RC car I have is a Arrma Infraction, which is equipped with a Spektrum Firma 150A Brushless Smart ESC. My computer is Nvidia Jetson Xavier NX devkit (ubuntu). How can I write c++ programs so my computer can send drive command to the ESC and then to car motor and servo?

Please check below thread to see if can help: ESC Control with PCA9685 on Jetson Nano (Jetson Hacks - RaceCar - Jetson & Embedded Systems / Jetson Nano - NVIDIA Developer Forums

Thanks. Since Jetson xavier NX can send out PWM signal, I am wondering if I still need PCA9685?

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