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