1 | initial version |

tf uses the Python transformation package written by Christoph Gohlke (see http://www.lfd.uci.edu/~gohlke/). This package supports any definition of Euler angles. Simply pass the desired convention as a second parameter to `quaternion_from_euler`

:

```
def quaternion_from_euler(ai, aj, ak, axes='sxyz'):
"""Return quaternion from Euler angles and axis sequence.
ai, aj, ak : Euler's roll, pitch and yaw angles
axes : One of 24 axis sequences as string or encoded tuple
>>> q = quaternion_from_euler(1, 2, 3, 'ryxz')
>>> numpy.allclose(q, [0.310622, -0.718287, 0.444435, 0.435953])
True
"""
```

And from the documentation in the header of `transformations.py`

:

```
"""
A triple of Euler angles can be applied/interpreted in 24 ways, which can
be specified using a 4 character string or encoded 4-tuple:
*Axes 4-string*: e.g. 'sxyz' or 'ryxy'
- first character : rotations are applied to 's'tatic or 'r'otating frame
- remaining characters : successive rotation axis 'x', 'y', or 'z'
"""
```

I suppose the tf maintainers didn't want to modify the underlying (external) python library to change the default behaviour.

So to comply with the ROS convention for Euler angles, simply use `quaternion_from_euler`

like this:

```
q = tf.transformations.quaternion_from_euler(yaw, pitch, roll, 'rzyx')
```

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