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!/usr/bin/env python

I did it like this in Python to get X,Y,Yaw

import rospy

import math from geometry_msgs.msg import PoseWithCovarianceStamped from tf.transformations import euler_from_quaternion, quaternion_from_euler

roll = pitch = yaw = 0.0

def get_rotation (msg): global roll, pitch, yaw orientation_q = msg.pose.pose.orientation orientation_list = [orientation_q.x, orientation_q.y, orientation_q.z, orientation_q.w] (roll, pitch, yaw) = euler_from_quaternion (orientation_list)
print('X =',msg.pose.pose.position.x, 'Y =',msg.pose.pose.position.y, 'Yaw =',math.degrees(yaw))

rospy.init_node('my_quaternion_to_euler')

sub = rospy.Subscriber ('/amcl_pose', PoseWithCovarianceStamped, get_rotation) # geometry_msgs/PoseWithCovariance pose

r = rospy.Rate(1) while not rospy.is_shutdown(): quat = quaternion_from_euler (roll, pitch,yaw) # print quat r.sleep()