• File: thormang3_walking_module_msgs/SetDampingBalanceParam.srv

  • Message Definition 
     float32             updating_duration
 DampingBalanceParam balance_param
 ---
 int32 result

  • Description A service that can modify Balance Algorithm Parameter.

    • Request

      • float32 updating_duration    Time duration when updating Balance Parameter.    The Parameter is gradually updated based on configured time.    0 or negative value will update the Balance Parameter immediately.

      • DampingBalanceParam balance_param(thormang3_walking_module_msgs/DampingBalanceParam)    The Balance Parameter to be applied

    • Response
      • int32 result    Result of the “SetDampingBalanceParam” Service
Name Value Description
NO_ERROR 0x00 There is no error.
NOT_ENABLED_WALKING_MODULE 0x02 The thormang3_walking_module is not enabled.
PREV_REQUEST_IS_NOT_FINISHED 0x20 The previous request is not finished.
TIME_CONST_IS_ZERO_OR_NEGATIVE 0x40 One or some time constant is zero or negative