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Hello.

Great answer!

Thanks to you, I have understood a couple of things that I did not get during the readings:

• extrinsic rotations are independent (that's what I have seen with a couple of example and that was only an assumption)
• the yrp notation does not imply extrinsic or intrinsic, I understood that it was always extrinsic, but that was wrong

Thanks also for the python tools. I use python a lot, so this is really helpful.

So I had a fresh look at the documentation and the description is given using intrinsic rotations and that explain why I was not able to use the values directly in ROS. I should be able to manage it now.