One of the relatively new directions in the development of mobile robots is the creation of wall climbing robots (WCR), that are capable of performing all kinds of operations on surfaces with an arbitrary angle of inclination. This article discusses the process of developing and modeling a control system for the support foot of a WCR. To fix the support foot, it is necessary to achieve the orientation of the support in parallel with respect to the support surface. Algorithms are being developed to ensure the reversal and fixation of the robot's foot along three coordinates. As a tool for modeling the movements of the supporting foot, the Gazebo environment is used, which allows you to simulate the spatial movement of a virtual robot taking into account the operation of various sensors. In the work, a virtual model of the sensor of the spatial orientation of the robot's foot was created. The control system was designed using the Python high-level language. Also, the ROS Kinetic tool is used for data exchange in the modeling process. In the course of the work, the kinematic structure of the robot node was considered, appropriate formulas for the mathematical description of the support model and its orientation algorithms were obtained, control signals for the foot drives were formed, modeling was carried out, which showed the correctness of the decisions made, which allowed confidently orienting the robot's support foot at different angles of rotation of the support surface relative to the robot.