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Python has a nifty feature which allows you to expand a tuple into an argument list. Rather than setting all of the quaternion's fields individually, you can use the constructor as follows

q = tf.transformations.quaternion_from_euler(0, 0, th)
msg = Quaternion(*q)

This is equivalent to doing

q = tf.transformations.quaternion_from_euler(0, 0, th)
msg = Quaternion(q[0], q[1], q[2], q[3])

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