File: biped_robin_msgs/SetModeService.srv
Raw Message Definition
#Service to change the mode of bipedRobin
#0 .. Idle Mode (robot stabilizer is off and robot does not move at all)
#1 .. Home Position (robot stabilizer is off and robot moves to straight position)
#2 .. Walk Position (robot stabilizer is turned off and robot moves to this start walking position)
#3 .. Walk Mode (robot stabilizer is turned on and steps can be passed to the robot)
#8 .. Joint Mode (robot stabilizer is turned of and joint position are set directly)
#9 .. Cartesian Mode (robot stabilizer is turned of, instead the position of various degrees of freedom are directly commanded)
uint8 desiredMode
---
bool successful
Compact Message Definition
uint8 desiredMode
bool successful