The Boys in Green face Erik Hamren's side at the Stade de France on Monday, June 13, and Walters had been a concern due to an achilles tendon problem. However, having completed Saturday's session, just two days before the game, assistant manager Roy Keane is pleased.
"[Walters] finished the session so I'm sure he'll be delighted and we are," Keane told reporters. "I suppose basically everyone is available for selection so that's great news."
The former Manchester United captain added: "There is always a risk players are going to get injured et cetera, but we're just pleased that he has got through the session.
"It was a decent enough session for him, it's not as if he just walked around. He had a bit of possession, he joined in the full session."
Other injury concerns Robbie Keane and Robbie Brady also took part in the session, with the former shaking off a calf injury and the latter recovering from a back spasm.
"It's not just Jon, obviously we had worries the last few days about other people," continued Keane. "[There was] no reaction to Robbie Keane or Robbie Brady's injuries, so to have all the players available selection is obviously good news for the manager."