• File: thormang3_walking_module_msgs/SetBalanceParam.srv

• Message Definition ``` float32 updating_duration BalanceParam balance_param — int32 result

int32 NO_ERROR = 0 int32 NOT_ENABLED_WALKING_MODULE = 2 int32 PREV_REQUEST_IS_NOT_FINISHED = 32 ```

• 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.

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

  • Response
    • ` int32 result`    Result of the “SetBalanceParam” 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.