Fix: movel get two same x field (#50)

* Update linux_cpp_build.yml * fix: field repeatation
lebai-robotics · Jun 8, 2023 · b57fbf2 · b57fbf2
1 parent 8dcc305
commit b57fbf2
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Showing 3 changed files with 2 additions and 2 deletions.
diff --git a/.DS_Store b/.DS_Store
diff --git a/.github/workflows/linux_cpp_build.yml b/.github/workflows/linux_cpp_build.yml
@@ -28,7 +28,7 @@ jobs:
   linux_cpp_test:
    needs: linux_cpp_build
    runs-on: ubuntu-latest
-   container: registry.cn-shanghai.aliyuncs.com/lebai/l-master:latest
+   container: registry.cn-shanghai.aliyuncs.com/lebai/l-master:3.1.6
    steps: 
      - name: start nginx
        run: nginx

diff --git a/sdk/src/robot.cc b/sdk/src/robot.cc
@@ -497,7 +497,7 @@ CartesianPose Robot::get_actual_tcp_pose()
   cart_pose["z"] = pose.position().z();
   if(pose.rotation().euler_zyx())
   {
-    cart_pose["rz"] = pose.rotation().euler_zyx()->x();
+    cart_pose["rz"] = pose.rotation().euler_zyx()->z();
     cart_pose["ry"] = pose.rotation().euler_zyx()->y();
     cart_pose["rx"] = pose.rotation().euler_zyx()->x();
   }