<launch>
  <node pkg="jsk_footstep_planner" type="footstep_marker" name="footstep_marker" output="screen">
    <rosparam>
      disable_tf: false
      footstep_size_x: 0.237418
      footstep_size_y: 0.134017
      lleg_footstep_offset: [0.015502, 0.010078, 0.0]
      rleg_footstep_offset: [0.015502, -0.010078, 0.0]
    </rosparam>
  </node>
  <node pkg="jsk_footstep_controller" type="simple-footstep-controller.l" name="footstep_controller"
        output="screen">
  </node>

  <node pkg="jsk_footstep_planner" type="footstep_planner_node" name="footstep_planner" output="screen">
    <rosparam>
      use_pointcloud_model: false
      use_lazy_perception: false
      use_local_movement: true
      project_start_state: false
      project_goal_state: false
    </rosparam>

    <rosparam>
      footstep_size_x: 0.24
      footstep_size_y: 0.14
      collision_bbox_size: [0.2, 0.6, 1.0]
      collision_bbox_offset: [0, 0, 0.8]
      </rosparam>
    <rosparam>
      successors:
      - x: 0
        y: -0.2
        theta: 0
      - x: 0
        y: -0.3
        theta: 0
      - x: 0
        y: -0.15
        theta: 0
      - x: 0.2
        y: -0.2
        theta: 0
      - x: 0.25
        y: -0.2
        theta: 0
      - x: 0.3
        y: -0.2
        theta: 0
      - x: 0.1
        y: -0.2
        theta: 0
      - x: -0.1
        y: -0.2
        theta: 0
      - x: 0
        y: -0.2
        theta: 0.17
      - x: 0
        y: -0.3
        theta: 0.17
      - x: 0.2
        y: -0.2
        theta: 0.17
      - x: 0.25
        y: -0.2
        theta: 0.17
      - x: 0.1
        y: -0.2
        theta: 0.17
      - x: 0
        y: -0.2
        theta: -0.17
      - x: 0
        y: -0.3
        theta: -0.17
      - x: 0.2
        y: -0.2
        theta: -0.17
      - x: 0.25
        y: -0.2
        theta: -0.17
      - x: 0.1
        y: -0.2
        theta: -0.17
    </rosparam>
  </node>
</launch>
