Yes. Although Aristotle in the Politics writes:I am a great admirer of Finley's Ancient Slavery and Modern Ideology. To the best of my knowledge - which is neither expert nor completely uninformed - there was no abolitionist movement, or even ideology, in Rome. As I understand it, the goal of Spartacus's revolt was to achieve freedom, but not to abolish the institution of slavery.
" others however maintain that for one man to be another man's master is contrary to nature, because it is only convention that makes the one a slave and the other a freeman and there is no difference between them by nature, and that therefore it is unjust, for it is based on force."
Which seems to indicate that the idea that slavery as a whole was wrong was not entirely unthinkable in the ancient world. (Aristotle unfortunately argues against the above proposition).