The visitors resumed their second innings on 99-3 and had Walker who top scored with 38 run out by Chopra.
Chris Woakes added to his overnight pair of wickets with the wicket of Foster and Rikki Clarke also took three wickets as Warwicks removed Essex for 193 in 57.2 overs.
That left Warwicks needing 153 to win. They started well with Ian Westwood making forty before he was trapped lbw. Chopra added 36 and Jim Troughton 4 but a steady half century from Darren Maddy ensured that Warwickshire won the match by seven wickets.
Jon Trott was out for 184 in the Test Match. The Warwickshire player had shared a record partnership of 332 which was the record for an eighth wicket with Stuart Broad who finished six short of the highest ever score by a number eight batsman when he was out for 169.
England were 446 all out and then skittled Pakistan out for 74 with Graeme Swann taking four wickets and two for Broad. In their second innings, Pakistan were 41-4 at stumps.