CHAMP controller description for ESP32 model of Spot Micro https://github.com/michaelkubina/SpotMicroESP32
Champ Controller: https://github.com/chvmp/champ
ROS Melodic
You can view the model by running:
roslaunch spotmicro_description view_urdf.launch
You can modify the Xacro description and see the changes in the UDF file with this command:
rosrun xacro xacro ceasar.urdf.xacro > ceasar.urdf
Implement actuator interface ROS Node on RasPi4 to relay the servo angles to PCA9685