diff --git a/darwin_controller/include/darwin_controller_impl.h b/darwin_controller/include/darwin_controller_impl.h
index dc3b67bdea7e0b99fc846cdd80a12e55aed7f11d..2a05c255b2343576ba9c2769edd99651e7331b7a 100644
--- a/darwin_controller/include/darwin_controller_impl.h
+++ b/darwin_controller/include/darwin_controller_impl.h
@@ -325,7 +325,7 @@ namespace darwin_controller
       /* go to the walk ready position */
       for(unsigned int i=0;i<20;++i)
       {
-        manager_set_module(i+1,MM_WALKING);
+        manager_set_module(i+1,MM_ACTION);
         manager_enable_servo(i+1);
       }
       for(unsigned int i=20;i<n_joints;++i)
@@ -725,6 +725,8 @@ namespace darwin_controller
       this->walk_access.exit();
 
       res.ret=true;
+
+      return true;
     }
 /************************************ set_walk_params *******************************************/