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What is relevant ROS packages for walking quadruped?

I want to design walking quadruped robot with sprawling configuraion using Dynamixel servo. The navigation use SLAM with XV-LiDAR 11 input. I look on the internet and found towr and Moveit! packages seems can handle the kinematic but I am afraid both will overkill because my robot is should be optimized to walk on even surface in a maze. Maybe package with seamless integration with navigation stack, kinematic, and gait will be much better.