• File: thormang3_walking_module_msgs/SetJointFeedBackGain.srv

  • Message Definition 
    float32           updating_duration
JointFeedBackGain feedback_gain
---
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 joint feedback gain.

    • Request

      • float32 updating_duration
           Time duration when updating joint feedback gain.
           The gains are gradually updated based on configured time.
           0 or negative value will update the joint feedback gain immediately.

      • JointFeedBackGain feedback_gain(thormang3_walking_module_msgs/JointFeedBackGain)
           The joint feedback gain to be applied

    • Response

      • int32 result
           Result of the “SetJointFeedBackGain” 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.