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There are many ways to build a robot, or make your robot walk.
I have build a very simple quadruped before. Mine had just 4 servos, one for each stiff little leg. While this project was fun, using ROS was not the way to go. (I used a Atmega microcontroller to control the servos and some LEDS)
After experimenting with different methods of gait, asked my professor for tips. He pointed me to Sine wave Locomotion. This concept worked well on my first little robot. It may be worth looking into for you too.
For links, have a look at a general article on the concept. Wiki explaining sine wave The second link is a scientific article explaining how this concept applies to robotics.
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