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As a noob i always are happy if a "nice" answer is provided. One, that can be copy-pasted. Because most likely someone will find this question when searching for a solution for a similar problem. So, if i'm correct, this should do the required trick:

Both ways this is needed at the very beginning of the code:

#include <tf/transform_datatypes.h>

msg -> TF:

 quaternionMsgToTF(quat_msg , quat_tf);

tf -> msg

 quaternionTFToMsg(quat_tf , quat_msg);

Basically this is exactly what the answer above includes, just as a line of code for everyone who isn't (jet) able to read the code provided by the link.