.. _set_streaming_feedback_properties:

Set Streaming Feedback Properties
=================================

By sending this message, the controller is instructed to send the available streaming feedback messages to the desired endpoint via UDP.

For further information on configuring the feedback messages, refer to the getting started section: :ref:`Configure Streaming Feedback <streaming_feedback>`

Payload
-------
As noted above, this message's payload defines both the endpoint to which streaming feedback messages shall be sent, as well as at which frequency.

- ``frequency_status`` The frequency in Hz, at which streaming status messages will be sent. Set to 0 to disable.
- ``frequency_cartesian_pose`` The frequency in Hz, at which the current cartesian pose will be sent. Set to 0 to disable.
- ``frequency_joint_pose`` The frequency in Hz, at which the current joint angles will be sent. Set to 0 to disable.
- ``desired_remote_address`` The IP to which feedback messages will be sent.
- ``desired_remote_port`` The Port to which feedback messages will be sent.

Example:

.. code-block:: json
    :linenos:
    
      {
      "frequency_status": 10,
      "frequency_cartesian_pose": 0,
      "frequency_joint_pose": 0,
      "desired_remote_address": {
         "address": "127.0.0.1"
      },
      "desired_remote_port": 28001
      }