This project creates a comprehensive ROS2 quadruped robotics platform built on the CHAMP framework, transforming a custom-built quadruped into an educational, research-ready walking robot. The system integrates Raspberry Pi 5, PCA9685 servo controller, 12 high-torque servos, Nintendo Pro Controller gamepad, configurable leg geometry.

Key Features include:
✅ Custom Hardware Abstraction Layer (HAL) with dual backend support
✅ Enhanced teleoperation with configurable joystick controls and safety features
✅ Inverse kinematics engine with workspace validation and joint limit enforcement
✅ Servo calibration system with persistent storage and individual tuning
✅ Gazebo simulation support for safe development and testing
✅ Real-time gait generation using CHAMP's proven locomotion algorithms
✅ Comprehensive safety systems including emergency stops and deadman switches

Highlights: Open-loop servo control, configurable gait parameters, multi-directional locomotion, body pose control.