ROS Interfaces used to generated humanoid robots walking movements.
walk_msgs is a ROS wrapper around walk_interfaces.
It mainly deals with the C++/ROS data conversions and ease the implementation of ROS trajectory generators node by providing a uniform ROS interface.
A trajectory generator node is a ROS node which aims at computing walking trajectories given some input data. Common input data are a sequence of footprints, initial and final robot positions (for feet, center of mass and optionally posture). See walk_interfaces for more details.
The package relies as heavily as possible on nav_msgs and in particular on the Path message to provide topics publishing well-known datatypes. Messages specifics to humanoid walking such as footprint are also defined in this package. See the ROS documentation for more details.
The documentation is divided in two:
