text: #include <iostream>
  #include <tough_footstep/robot_walker.h>
  #include <ihmc_msgs/FootstepDataListRosMessage.h>
  #include "geometry_msgs/Pose2D.h"
  
  using namespace std;
  int main(int argc, char** argv)
  {
    if (argc == 3)
    {
      ros::init(argc, argv, "walk_steps");
      ros::NodeHandle nh;
  
      RobotWalker walk(nh, 1.0, 1.0, 0);
      RobotSide side;
      std::vector<float> x_offset, y_offset;
      walk.walkNStepsWRTPelvis(std::atof(argv[1]), std::atof(argv[2]));
      ROS_INFO_STREAM("Walking " << argv[1] << " steps with step length of " << argv[2]);
    }
    else
    {
      std::string filename = string(argv[0]);
      int index = filename.find_last_of('/');
      std::string input_trace_filename = filename.substr(index + 1);
      ROS_INFO_STREAM("Usage : rosrun tough_examples " << input_trace_filename << " <num_of_steps> <step_length>");
    }
    return 0;
  }
  