diff --git a/carla_ros_bridge/src/carla_ros_bridge/walker.py b/carla_ros_bridge/src/carla_ros_bridge/walker.py
index 41f828d2..b32c353c 100644
--- a/carla_ros_bridge/src/carla_ros_bridge/walker.py
+++ b/carla_ros_bridge/src/carla_ros_bridge/walker.py
@@ -10,6 +10,7 @@
 Classes to handle Carla pedestrians
 """
 
+import carla_common.transforms as trans
 from carla import WalkerControl
 
 from carla_ros_bridge.traffic_participant import TrafficParticipant
@@ -82,6 +83,19 @@ def control_command_updated(self, ros_walker_control):
         walker_control.jump = ros_walker_control.jump
         self.carla_actor.apply_control(walker_control)
 
+    def get_current_ros_pose(self):
+        """
+        Function to return the pose for walkers.
+
+        :return: the pose of the walker
+        :rtype: geometry_msgs.msg.Pose
+        """
+        # Moving position of walkers from the pivot point to the bottom of the bounding box.
+        extent = self.carla_actor.bounding_box.extent
+        pose_transform = self.carla_actor.get_transform()
+        pose_transform.location -= pose_transform.get_up_vector() * extent.z
+        return trans.carla_transform_to_ros_pose(pose_transform)
+
     def get_classification(self):
         """
         Function (override) to get classification