We enjoyed walking on the Heart of the Warrior Trail in Waukee today. It's a 1/2 mile walk from the start of the Storywalk (NW side of the Ashworth Dr / Warrior Lane roundabout) to the end, which stops just before 4th St. We continued on to Waukee Ice Cream Shoppe, which is another 1/4 mile.
We parked at Windfield Park, which requires backtracking a bit to the start of the Storywalk but works well for ending the walk at the park. There's a new parking option coming soon at a trail amenity currently under construction. It's just south of the park off Ashworth Dr.