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If everything worked when you compiled using make in the terminal, it's probably just a problem with Eclipse which you can safely ignore.

However, the code above won't work with Fuerte since TF now provides its own data types. The corresponding code looks like this:

void Nav::compassCallback(const sensor_msgs::Imu::ConstPtr& msg)
{
    // Convert quaternion to RPY.
    tf::Quaternion q;
    double roll, pitch, yaw;
    tf::quaternionMsgToTF(msg->orientation, q);
    tf::Matrix3x3(q).getRPY(roll, pitch, yaw);
    ROS_DEBUG("RPY = (%lf, %lf, %lf)", roll, pitch, yaw);
} // end compassCallback()