Gazebo/ROS Simulation for ARGOS Agile Quadruped Robot

This project involves the creation of a simulation framework for ARGOS, an agile quadruped robot with legs of three actuated degrees of freedom. The project aims to simulate the robot's movement and mapping capabilities using robotic software packages.

Key Features:
- Robot Model Construction: Developed the quadruped robot model using CAD files and defined its geometry, links, joints, and transmissions in Unified Robot Description Format (URDF).
- ROS Integration: Utilized Robot Operating System (ROS) for robot control, integrating CHAMP and gmapping packages for movement and mapping tasks.
- Simulation Environment: Created a realistic simulation environment in Gazebo, including sensors and actuators, to test and validate the robot's performance.
- Movement and Mapping: Conducted gait analysis to define walking parameters and performed basic motion tests and environmental mapping.
- Control System: Implemented and tuned PID controllers for the robot's legs and manipulator, ensuring accurate and stable movement.
- Data Visualization: Utilized RViz for sensor data visualization, ensuring accurate environmental perception and obstacle detection.