walk_msgs Documentation

walk_msgs: Humanoids Walking ROS Interface

ROS Interfaces used to generated humanoid robots walking movements.

• Homepage: http://ros.org/wiki/walk_msgs

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.

codeapi

The documentation is divided in two:

• the conversion.hh header which provides the ROS/walk_interfaces conversion.

• the walk_msgs::AbstractNode template class which should be derived to implement a trajectory generator node.