Some things that would be useful to add to the keyboard_teleop walking tutorial http://gazebosim.org/wiki/Tutorials/drcsim/2.4/keyboard\_teleop

1) You first need to be running a Gazebo simulation with Atlas in it.

roslaunch atlasutils atlas.launch

The command

roslaunch atlasutils keyboard_teleop.launch

just launches the keyboard interface.

2) You need to get the simulation into the BDI standing mode by typing R before any other movement commands. Otherwise it falls over when you ask it to move.

3) It appears the only way to kill the keyboard interface is to type Q, and then ^C.