ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | Q&A
Ask Your Question

How to use humanoid_walk

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

this post is marked as community wiki

This post is a wiki. Anyone with karma >75 is welcome to improve it.

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,


edit retag flag offensive close merge delete


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

Sort by » oldest newest most voted

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.

edit flag offensive delete link more

Your Answer

Please start posting anonymously - your entry will be published after you log in or create a new account.

Add Answer

Question Tools

1 follower


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

Seen: 540 times

Last updated: Sep 27 '13