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Hi There
I actually dont think you can put it into your XOOPS footer, but you can put it above or below your footer by putting the smarty code for the banner within the theme (which I think is the best way since you dont have to hack the XOOPS core).
Go to your theme folder and edit theme.html
find:
<{$xoops_footer}>
Now where you place it is up to you and it all depends on whether its nested in tables aswell. You might wanna place it outside the td or table that the XOOPS footer tag is in. Also, you should also notice that the RW_Banner that will be placed here will not be centered in IE. This is down to the coding within RW_Banner itself (although IE needs to start being more standards compliant).
Also, remember before doing it turn on "Check templates for modifications ?" so that changes take place.