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You mean degrees probably

You need a quaternion to degrees conversion tool. Or use for instance the bullet class.

You mean degrees probably

You need a quaternion to degrees conversion tool. Or use for instance the bullet class.

edit:

  tf::Pose pose;
  tf::poseMsgToTF(odom->pose.pose, pose);
  double yaw_angle = tf::getYaw(pose.getRotation());

from here