• File: thormang3_walking_module_msgs/SetJointFeedBackGain.srv

• Message Definition ```c 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.