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For anyone who stumbles upon this in the future, now there is a function available in the tf_transformations library called euler_from_quaternion in ROS2 Humble and above.

You can use it by importing it first from tf_transformations import euler_from_quaternion

Then convert the quaternion to roll, pitch, yaw by

orientation_list = [orientation_q.x, orientation_q.y, orientation_q.z, orientation_q.w]

(roll, pitch, yaw) = euler_from_quaternion(orientation_list)

self.pose_yaw = yaw