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As @jbohren answered, there is the cmd_step topic in nao_walker.py. That is not documented since it's no longer used. In nao_driver, there is now a newer node nao_footsteps.py that is under current development and requires NaoQI 1.12 or newer.
To execute footsteps, you can use the footstep_navigation node in the footstep_planner package. It will use footstep planning and execution in one loop, which also allows replanning and small adjustments. It will directly communicate with the nao_footsteps node. All of this is under current development, and this not very well-documented.
To answer your last question: You will need a localization source to correct for motion noise, as mentioned in the details of the paper "Humanoid Navigation with Dynamic Footstep Plans". We used a laser for this. By planning in the map frame, the footstep planner will automaticall account for it. Otherwise, you need to plan in the odometry frame or with a faked localization, and of course you can't correct for inaccuracte execution then.
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As @jbohren answered, there is the cmd_step topic in nao_walker.py. That is not documented since it's no longer used. In nao_driver, there is now a newer node nao_footsteps.py that is under current development and requires NaoQI 1.12 or newer.
To execute footsteps, you can use the footstep_navigation node in the footstep_planner package. It will use footstep planning and execution in one loop, which also allows replanning and small adjustments. It will directly communicate with the nao_footsteps node. All of this is under current development, and this not very well-documented.
To answer your last question: You will need a localization source to correct for motion noise, as mentioned in the details of the paper "Humanoid Navigation with Dynamic Footstep Plans". We used a laser for this. By planning in the map frame, the footstep planner will automaticall automatically account for it. Otherwise, you need to plan in the odometry frame or with a faked localization, and of course you can't correct for inaccuracte execution then.
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