The main goal of this paper is to simulate a quadruped robot (Spot) in the Gazebo simulator so that it can move around the map while avoiding obstacles. To implement walking, there are ready-made walking algorithms such as Champ here, which allows the creation of a new robot, and it is possible to make a configuration for Champ and implement algorithms for mapping, localization and navigation of a quadruped robot using ROS. As part of the paper, quadruped robots, ROS and Gazebo are briefly described, and an overview of commercially available quadruped robots and their comparison is made, as well as an overview of open-source walking algorithms to describe the possible movement of quadruped robots. In the paper, Spot is described with a urdf file that defines all the features of the robot for simulation in Gazebo and RViz. Mapping of space in the simulation, localization and navigation of the robot along with reading data from the sensors are shown. Also described is the inverse kinematics of the robot structure as Spot, and the method of generating the gait of a quadruped robot using the trotting method(wlking with diagonal legs). For robot navigation, the DWA algorithm gives satisfactory results.