CAN package is currently in progress. You can use ros serial to communicate with Spctral Micro over UART easily. The list of commands is here: https://source-robotics.github.io/Spectral-BLDC-docs/apage6_uart/

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Liability

1. The software and hardware are still in development and may contain bugs, errors, or incomplete features.
2. Users are encouraged to use this software and hardware responsibly and at their own risk.

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The majority of this project is open source and freely available to everyone. Your assistance, whether through donations or advice, is highly valued. Thank you!

Project is under MIT Licence