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<launch>
<node pkg="jsk_footstep_planner"
type="footstep-planner-node.l"
name="footstep_planner"
clear_params="true"
output="screen">
<rosparam>
x: [-0.039375,0.0525,0.0525,0.027176,-0.027176,-0.08,0.0,0.0,0.075,0.15,0.0]
y: [0.2475,0.26,0.26,0.206422,0.206422,0.21,0.27,0.19,0.21,0.21,0.21]
theta: [0.174533,-0.20944,0.20944,-0.261799,0.261799,0.0,0.0,0.0,0.0,0.0,0.0]
</rosparam>
</node>
<node pkg="jsk_footstep_planner"
type="footstep-planner-client-sample.l"
name="footstep_planner_client"
output="screen">
</node>
</launch>
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