#include <ros/ros.h>
#include <ros/package.h>
#include <std_msgs/String.h>
#include <yaml-cpp/yaml.h>
#include "robotis_controller_msgs/StatusMsg.h"
#include "thormang3_walking_module_msgs/RobotPose.h"
#include "thormang3_walking_module_msgs/GetReferenceStepData.h"
#include "thormang3_walking_module_msgs/AddStepDataArray.h"
#include "thormang3_walking_module_msgs/StartWalking.h"
#include "thormang3_walking_module_msgs/SetBalanceParam.h"
#include "thormang3_walking_module_msgs/SetJointFeedBackGain.h"
#include "thormang3_walking_module_msgs/IsRunning.h"
#include "thormang3_walking_module_msgs/RemoveExistingStepData.h"

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Functions
void	initialize ()

bool	loadBalanceParam (thormang3_walking_module_msgs::SetBalanceParam &set_param)

bool	loadFeedBackGain (thormang3_walking_module_msgs::SetJointFeedBackGain &set_gain)

void	moveToInitPose ()

void	setBalanceOff ()

void	setBalanceOn ()

void	setCtrlModule ()

void	walkBackward ()

void	walkForward ()