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You can only specify the next 4 steps, and you can know when there is by looking at the /atlas/atlas_sim_interface_state message which specifies "walk_feedback" which has the field next_step_index_needed:

https://bitbucket.org/osrf/drcsim/src/default/ros/atlas_msgs/msg/AtlasBehaviorWalkFeedback.msg?at=default

You can only specify the next 4 steps, and you can know when there is by looking at the "/atlas/atlas_sim_interface_state " message which specifies "walk_feedback" "walk_feedback" which has the field "next_step_index_needed:":

  • https://bitbucket.org/osrf/drcsim/src/default/ros/atlas_msgs/msg/AtlasBehaviorWalkFeedback.msg?at=default

You can only specify the next 4 steps, and you can know when there is another needed by looking at the "/atlas/atlas_sim_interface_state" message which specifies "walk_feedback" which has the field "next_step_index_needed":

  • https://bitbucket.org/osrf/drcsim/src/default/ros/atlas_msgs/msg/AtlasBehaviorWalkFeedback.msg?at=default