Another footstep message is from IHMC:
https://github.com/ihmcrobotics/ihmc_ros_core/blob/develop/ihmc_msgs/msg/FootstepDataRosMessage.msg
It is sent as a list of footsteps using:
https://github.com/ihmcrobotics/ihmc_ros_core/blob/develop/ihmc_msgs/msg/FootstepDataListRosMessage.msg
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