Feet IK for Mechanim

Hello, and thank you for looking at my question. I have downloaded the Mechanim Foot Placement for my character, and it gives me so many errors mainly because there seems to be a missing script, I have re-downloaded it and it says that a script called BipedIK along with RootMotion is missing, and it is not in my downloaded assets. I tried the Unity tutorial for Pro IK, but I am looking for the foot to position itself correctly against irregular floors, not moving the foot to a particular object or point. I have Unity Pro, and I was wondering if there is any other way to do Foot Inverse Kinematics.