# the argument scale of quoternion function "setRPY"

Hi

I want to use "setRPY"function and the arguments are the gyro sensor values. I want to convert the angle to quotarnion by this function.

then , I have something I want to confirm. Should I set the scale of the sensor value (angle) to [-2π , 2π]? I don't know the scale of the function's argument . please let me know the correct scale of the function.

My code is the following :

gyro_msg.vector.x = data.gx*PI()/180;
gyro_msg.vector.y = data.gy*PI()/180;
gyro_msg.vector.z = data.gz*PI()/180;
gyro_pub.publish(gyro_msg);

sensor_msgs::Imu imu_msg; dt = (float) ( endTime - startTime ) * 0.000001; // μsec→sec

// integration

data.theta += dt * data.gz*PI()/180;

// range constraint

if(data.theta>=2*PI()) data.theta -=2*PI();
else if(data.theta<=2*PI()) data.theta +=2*PI();

imu_msg.header.stamp = ros::Time::now(); imu_msg.header.frame_id = "/base_link"; tf::Quaternion q; q.setRPY(0.0, 0.0, data.theta);

thank you