• 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