Kim, You can perfectly create a URDF for a humanoid, and start using it with rviz, robot_state_publisher, etc. The only constraint on the URDF is that your robot can be represented in a tree structure, but I don't see why that would be a problem. You can visualize / replay your robot motion in rviz, even if the joint states are published at 1kHz. Is that what you were asking for? Wim On Tue, Oct 5, 2010 at 7:58 PM, Kim, Yoonsoo wrote: > Dear ros users, > I'm developing a humanoid and as you may guess, > walking is very important issue for it. > But it is very difficult to debug walking algorithms without > visual aids. So, I'm curious about the possibility that > rosbag and rviz can be used to replay robot's walking motion. > The control loop should run in 1KHz frequency. > If possible, how can I achieve the replay function using them? > TIA > > - Yoonsoo > > > _______________________________________________ > ros-users mailing list > ros-users@code.ros.org > https://code.ros.org/mailman/listinfo/ros-users > > -- -- Wim Meeussen Willow Garage Inc.