For the ROS-heads:
The Spot SDK by Boston Dynamics is a set of gRPC APIs and Python client libraries. https://dev.bostondynamics.com/
Other companies offer ROS wrappers of a subset of Boston Dynamics Spot API protocols, such as Clearpath and Microsoft.
https://github.com/microsoft/spot-ros-wrapper
https://clearpathrobotics.com/spot-robot/
