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As far as I know there is no out of the box tf/tf2 function that does that in ros2.

However, you can easily achieve that with a simple helper function e.g.:

auto createQuaternionMsgFromYaw(double yaw)
{
  tf2::Quaternion q;
  q.setRPY(0, 0, yaw);
  return tf2::toMsg(q);
}

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