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After lots of reading and a few more changes, I chose the following:

package: i2cpwm_board node: i2cpwm_board_node source code: i2cpwm_controller.cpp services: config_drive_mode(), config_servos() topics: servos_absolute(), servos_proportional(), servos_drive()

My decision was not 100% intuitive but I had to make some guesses and ultimately code and move on. The service names work well as they are "action subject". The topics are a bit less intuitive but they all act on servos to make them move. The progress from least amount of control logic to most amount of control logic.

I'm happy to get additional feedback and if there are better suggestions.

After lots of reading and a few more changes, I chose the following:

package: i2cpwm_board node: i2cpwm_board_node i2cpwm_board source code: i2cpwm_controller.cpp services: config_drive_mode(), config_servos() topics: servos_absolute(), servos_proportional(), servos_drive()

My decision was not 100% intuitive but I had to make some guesses and ultimately code and move on. The service names work well as they are "action subject". The topics are a bit less intuitive but they all act on servos to make them move. The progress from least amount of control logic to most amount of control logic.

I'm happy to get additional feedback and if there are better suggestions.

After lots of reading and a few more changes, I chose the following:

package: i2cpwm_board
node: i2cpwm_board
source code: i2cpwm_controller.cpp
services: config_drive_mode(), config_servos()
topics: servos_absolute(), servos_proportional(), servos_drive()

After lots of reading and a few more changes, I chose the following:

package:  i2cpwm_board
node:  i2cpwm_board
source code: i2cpwm_controller.cpp
 services: config_drive_mode(),    config_drive_mode()
             config_servos()
 topics: servos_absolute(), servos_proportional(),      servos_absolute()
             servos_proportional()
             servos_drive()

My decision was not 100% intuitive but I had to make some guesses and ultimately code and move on. The service names work well as they are "action subject". The topics are a bit less intuitive but they all act on servos to make them move. The progress from least amount of control logic to most amount of control logic.

I'm happy to get additional feedback and if there are better suggestions.