How to show the floorplan and walk with avatar?

I have tried following code to enable the floorplan view:

        let op = tk.hwv.operatorManager.getOperator(Communicator.OperatorId.Walk);
        op.resetDefaultWalkSpeeds();

        tk.hwv.floorplanManager.setOverlayAnchor(Communicator.OverlayAnchor.UpperRightCorner);
        tk.hwv.floorplanManager.setAutoActivate(Communicator.FloorplanAutoActivation.Bim);
        tk.hwv.floorplanManager.setZoomLevel(1);
        tk.hwv.floorplanManager.setTrackCameraEnabled(true);
        tk.hwv.floorplanManager.setOverlaySize(new Communicator.Point2(0.5, 0.5), Communicator.OverlayUnit.ProportionOfCanvas, Communicator.OverlayUnit.ProportionOfCanvas);
        tk.hwv.floorplanManager.activate();

But I want to use the mouse or keyboard to control the avatar walkthrough,I have seen videos with this effect on YouTube
What configuration should I do to achieve the effect in the video?

Not sure I understand the question correctly, but you just need to set the walk operator via the operatorManager.

See below for an example:
https://3dsandbox.techsoft3d.com/?snippet=5S3JxomNtmWioW01VMCFJZ