Rebase from 'upstream' (no changes)
Trimmed the branch to only the jsk_footstep_msgs sub directory
Revert "Trimmed the branch to only the jsk_footstep_msgs sub directory"

This reverts commit 84a12f113bb967eeb16a5eaac65e05987261aa36.
Rebase from 'upstream'
Trimmed the branch to only the jsk_footstep_msgs sub directory