Once your robot is up and running. You can use the ROS controller messages to move Valkyrie

Setup a new workspace

Create a new workspace which overlays the valkyrie and ihmc workspaces.

mkdir -p ~/val_test_script_ws/src
cd ~/val_test_script_ws
catkin config --install --extend ~/ihmc_ws/install

Get the test scripts:

cd src
git clone https://github.com/stevenjj/valkyrie_wholebody_msgs_tests
rosdep install --from-path . --ignore-src -y
catkin build

Run the scripts!

source ~/val_test_script_ws/install/setup.bash
# Example Script
roslaunch valkyrie_wholebody_msgs_tests whole_body_left_arm_right_bend_torso.launch

• Launch files with suite in their name will launch multiple ROS controller messages in sequence.
• A walk script sends footstep messages.
• A whole_body script send a whole body message.
• A neck script sends a neck trajectory message.
• A go home script sends a go home message.

See the files under /data and /data/multiple_tests to view the data used for the scripts.

Note that the yaml files for a whole body message encodes the SE(3) and SO(3) data initially with respect to the midfeet frame. Later, a script transforms these waypoints to world frame when an update on the robot pose is received.