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If you're getting Odometry msgs, you can use the function tf::getYaw with the odometry msg directly to get the yaw.

documentation is here: http://mirror.umd.edu/roswiki/doc/diamondback/api/tf/html/c++/namespacetf.html#a33e93f413622e296d0a2a93b252bbb4b

tf::getYaw(odom_msg.pose.pose.orientation)

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