<launch>
  <node pkg="jsk_footstep_planner" type="footstep_planner_node" name="footstep_planner" output="screen">
    <rosparam>
      footstep_size_x: 0.24
      footstep_size_y: 0.15
    </rosparam>
    <!-- successors -->
    <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>

    <!-- marker -->
  <node pkg="jsk_interactive_marker"
        type="footstep_marker"
        name="footstep_marker"
        output="screen"
        >
    <!-- <remap from="move_marker" to="$(arg POSE_REMAP)" /> -->
    <!-- <param name="wait_snapit_server" value="false" /> -->
    <rosparam command="load" file="$(find jsk_footstep_controller)/config/JAXON.yaml" />
    <remap from="project_footprint" to="/footstep_planner/project_footprint" />
    <rosparam>
        use_plane_snap: false
        use_projection_service: false
        use_projection_topic: false
        use_footstep_planner: true
        use_footstep_controller: false
        use_initial_footstep_tf: false
        initial_reference_frame: '/odom'
        foot_size_x: 0.2
        foot_size_y: 0.1
        foot_size_z: 0.0001
    </rosparam>
    <param name="frame_id" value="/odom" />
  </node>
  <node pkg="rviz" type="rviz" name="rviz"
        args="-d $(find jsk_footstep_planner)/launch/sample/footstep_planner_sample.rviz" />
</launch>
