SetJointFeedBackGain srv

• 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.