On Mon, Jan 9, 2012 at 10:05 AM, Armin Hornung wrote: > Hello Thomas, > > > On 2012-01-08 14:50, Thomas Moulard wrote: >> >> Dear ROS users, >> I am pleased to announce the first release of humanoid_walk. >> >> This release provides C++[1] and ROS[2] interfaces to allow humanoid >> robot walking trajectories generation. > > That's really cool, great to see more humanoid-related packages appearing in > ROS! At some point we could try to unify the interfaces between > humanoid_walk and footstep_planner, seems like a logical step to plug these > two together! Actually, I tooked at your package while designing the stack so it should really be straight-forward. We just have a couple of additional settings to setup the actual pattern generator algorithm. So practically speaking it comes to more or less to make a node which calls plan_footsteps then GetPath. Additionally, we're slowly starting to integrate our control system to ROS but several problems must be solved before it becomes really usable. In particular, we're trying to support URDF but it is not done yet. I may also submit a REP to ROS in order to standardize the humanoid robot frames name: https://github.com/laas/rep-coordinate-frames-for-biped-robots/blob/master/rep-0118.txt It is especially important for us as we need to attach semantics to joints in order to realize task based control. I will probably get back to you once it is finalized in order to see if nao_description can be updated... Best, -- Thomas Moulard