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when you are dealing with angles you need to use quaternions. A quaternion expresses the RPY values into 4 parameters (x,y,z,w). You should use these in the set state commands. You need to call following function to convert RPY values into quaternion. tf2::Quaternion myQuaternion; myQuaternion.setRPY( r, p, y ) Here is a good tutorial for converting RPY values into quaternion values. http://wiki.ros.org/tf2/Tutorials/Quaternions
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