diff --git a/darwin_controller/include/darwin_controller_impl.h b/darwin_controller/include/darwin_controller_impl.h
index 76eaf96b4c6665c1cf23cb9e75c1a59a784663d4..62d72b03508f2f138650c6989bf32b72e0426bb4 100644
--- a/darwin_controller/include/darwin_controller_impl.h
+++ b/darwin_controller/include/darwin_controller_impl.h
@@ -780,6 +780,8 @@ namespace darwin_controller
       this->walk_access.exit();
 
       res.ret=true;
+
+      return true;
     }
 /************************************ set_walk_params *******************************************/
 
@@ -834,7 +836,7 @@ namespace darwin_controller
     }
 /************************************ get_walk_params *******************************************/
 
-/************************************ set_walk_params *******************************************/
+/************************************ set_stairs_params *******************************************/
   template <class HardwareInterface>
     bool DarwinController<HardwareInterface>::set_stairs_paramsCallback(humanoid_common_msgs::set_stairs_params::Request &req, humanoid_common_msgs::set_stairs_params::Response &res)
     {
@@ -866,10 +868,12 @@ namespace darwin_controller
       ram_write_byte(DARWIN_STAIRS_X_SHIFT_BODY,(unsigned char)(req.params.X_SHIFT_BODY*1000.0));
 
       res.ret=true;
+    
+      return true;
     }
-/************************************ set_walk_params *******************************************/
+/************************************ set_stairs_params *******************************************/
 
-/************************************ get_walk_params *******************************************/
+/************************************ get_stairs_params *******************************************/
   template <class HardwareInterface>
     bool DarwinController<HardwareInterface>::get_stairs_paramsCallback(humanoid_common_msgs::get_stairs_params::Request &req, humanoid_common_msgs::get_stairs_params::Response &res)
     {