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How to use humanoid_walk

asked 2013-05-15 18:25:09 -0500

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Hello Everyone!!

How to use Humanoid_walk

Install: Ubuntu 12.04 (Precise)

sudo sh -c 'echo "deb <a href=""></a> precise main" > /etc/apt/sources.list.d/ros-latest.list':

wget <a href=""></a> -O - | sudo apt-key add -

sudo apt-get update

sudo apt-get install ros-fuerte-desktop-full

echo "source /opt/ros/fuerte/setup.bash" >> ~/.bashrc

. ~/.bashrc

source /opt/ros/fuerte/setup.bash


sudo apt-get install python-rosinstall python-rosdep

sudo apt-get install ros-fuerte-qt-gui-core ros-fuerte-rqt

sudo apt-get install git

Run In A Terminal:


Another Terminal:

source ~/'ros'/


git clone <a href=""></a>;

rosws set humanoid_walk

roscd humanoid_walk

roscd walk_interfacesmake

rosws set walk_interfaces

roscd walk_interfaces


rosws set walk_msgs

roscd walk_msgs


rosws set walk_tools

roscd walk_tools


rosws set halfsteps_pattern_generator

roscd halfsteps_pattern_generator


rosrun halfsteps_pattern_generator generator

Another Terminal:

source ~/'ros'/

roscd halfsteps_pattern_generator


Another Terminal:

rosrun rviz rviz -d `rospack find walk_msgs`/walking_trajectories.vcg

Kindest regards,


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Maintainer here. Can you edit the post and translate the spanish part? I will then try to answer your question here. Thanks.

Thomas gravatar image Thomas  ( 2013-05-26 02:04:12 -0500 )edit

I translated it for you. Still don't know what you're asking, Vincent.... Is this a tutorial? ¿Es esto un tutorial?

allenh1 gravatar image allenh1  ( 2013-05-30 06:26:38 -0500 )edit

This is a tutorial, but I have problem with this:

vncntmh gravatar image vncntmh  ( 2013-06-03 15:12:10 -0500 )edit

@Thomas, is this tutorial correct?

how could edit the trayectory of foot?

to senosoidal?

vncntmh gravatar image vncntmh  ( 2013-06-03 15:14:37 -0500 )edit

I am sorry but what is your issue? Can you please merge the quesiton and tell me: 1. what you want to achieve? 2. what result you obtain? Thanks!

Thomas gravatar image Thomas  ( 2013-06-06 22:13:47 -0500 )edit
  1. I have an error when use:

rosrun walk_msgs generator _yaml:=/sample/short_walk.yaml

fatal error: bad type for pattern generator node (expected type: map, parsed type: null) [ERROR] [1369543267.813844427]: fatal error: bad type for pattern generator node (expected type: map, parsed type: null)

vncntmh gravatar image vncntmh  ( 2013-06-09 17:53:45 -0500 )edit

1 Answer

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answered 2013-06-10 15:48:52 -0500

Thomas gravatar image

You need to change the yaml argument to the real path of your yaml file. Examples files can be downloaded from the wiki.

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Asked: 2013-05-15 18:25:09 -0500

Seen: 343 times

Last updated: Sep 27 '13