<launch>
  <arg name="ROBOT" default="sample_robot"/>
  <arg name="USE_RVIZ" default="false"/>
  <include file="$(find jsk_footstep_planner)/launch/cppplanner/optimistic_footstep_planner.launch">
    <arg name="USE_SIMPLE_FOOTSTEP_CONTROLLER" value="true"/>
    <arg name="USE_PERCEPTION" value="false"/>
    <arg name="USE_CONTROLLER" value="false"/>
    <arg name="USE_MARKER" value="false"/>
    <arg name="USE_OBSTACLE_MODEL" value="true"/>
    <arg name="USE_RVIZ" value="$(arg USE_RVIZ)"/>
    <arg name="ROBOT" value="$(arg ROBOT)"/>
  </include>
  <rosparam param="robot/type" subst_value="True">$(arg ROBOT)</rosparam>
  <test test-name="test_footstep_planning_eus_client" pkg="jsk_footstep_planner" type="test_footstep_planning_eus_client.l" time-limit="300.0"/>
</launch>
