Need DIY info from Bodrum please

Would anyone know how long it would take to walk from the pier to the Castle of St Peter in Bodrum. We are going there in October so don't know what the weather will be like, if it is going to be really warm or not. Can we do a DIY tour of Bodrum by walking from the pier into town and also visiting the castle. I have also heard about some local wooden boats that offer sightseeing boat ride along the coast line, don't know if we would have time to do both? Please share any DIY info on taxi cost or places to see etc. Thanks in advance.

Just two posts above you someone else asked about Bodrum and I answered there.

http://boards.cruisecritic.com/showthread.php?t=2023830

I would think you could easily go from the ship's pier to the castle in about half an hour but we did not do that walk directly.

As to whether you would have time to rent a gulet (boat) and see the archaeological museum in the castle I don't know. You would be able to negotiate with them (dozens of them) and see what they offer.

The castle is not all the special (having seen many others) but the museum is worth up to an hour.