From 44f2c3fbd54f09114a8549b13338f9aa81bb607b Mon Sep 17 00:00:00 2001
From: Kohei Kimura <k-kimura@jsk.t.u-tokyo.ac.jp>
Date: Wed, 29 Mar 2017 04:52:25 +0900
Subject: [PATCH 1/2] [jsk_footstep_controller/launch] add launch arguments
 about odometry for hrp2jsk_footcoords

---
 jsk_footstep_controller/launch/hrp2jsk_footcoords.launch | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/jsk_footstep_controller/launch/hrp2jsk_footcoords.launch b/jsk_footstep_controller/launch/hrp2jsk_footcoords.launch
index d142ac369..103ea926a 100644
--- a/jsk_footstep_controller/launch/hrp2jsk_footcoords.launch
+++ b/jsk_footstep_controller/launch/hrp2jsk_footcoords.launch
@@ -1,10 +1,14 @@
 <launch>
   <arg name="use_footcoords" default="true"/>
+  <arg name="root_frame_id" default="BODY"/>
+  <arg name="use_wheel_odometry" default="false"/>
   <node pkg="jsk_footstep_controller"
         type="footcoords"
         name="footcoords"
         if="$(arg use_footcoords)"
         >
+    <param name="~root_frame_id" value="$(arg root_frame_id)"/>
+    <remap from="/odom" to="/wheel_odom" if="$(arg use_wheel_odometry)"/>
   </node>
 
   <node pkg="jsk_footstep_controller"

From 2b758de7775f2a07a796ca33409238b7a1a0b87a Mon Sep 17 00:00:00 2001
From: Kohei Kimura <k-kimura@jsk.t.u-tokyo.ac.jp>
Date: Wed, 29 Mar 2017 04:52:25 +0900
Subject: [PATCH 2/2] [jsk_footstep_controller/launch] add launch arguments
 about odometry for hrp2jsk_footcoords

---
 jsk_footstep_controller/launch/hrp2jsk_footcoords.launch | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/jsk_footstep_controller/launch/hrp2jsk_footcoords.launch b/jsk_footstep_controller/launch/hrp2jsk_footcoords.launch
index d142ac369..103ea926a 100644
--- a/jsk_footstep_controller/launch/hrp2jsk_footcoords.launch
+++ b/jsk_footstep_controller/launch/hrp2jsk_footcoords.launch
@@ -1,10 +1,14 @@
 <launch>
   <arg name="use_footcoords" default="true"/>
+  <arg name="root_frame_id" default="BODY"/>
+  <arg name="use_wheel_odometry" default="false"/>
   <node pkg="jsk_footstep_controller"
         type="footcoords"
         name="footcoords"
         if="$(arg use_footcoords)"
         >
+    <param name="~root_frame_id" value="$(arg root_frame_id)"/>
+    <remap from="/odom" to="/wheel_odom" if="$(arg use_wheel_odometry)"/>
   </node>
 
   <node pkg="jsk_footstep_controller"