why cannot use tf::Quaternion and tf::createQuaternionMsgfromYaw in arduino

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I try to use tf::Quaternion and tf::createQuaternionMsgfromYaw in arduino

I have included ros.h and tf/transform_broadcaster.h

but when I build the code in arduino ide , it shows error:

> error: 'createQuaternionMsgFromYaw' is not a member of 'tf' error:
> error:'Quaternion' is not a member of 'tf'

I want to send transform on arduino, reference to official tutorial:Writing a tf broadcaster , using urdf with robot_state_publisher, and using time and tf on the arduino

I get data from robot, which stored in struct ArmData on arduino, including absolute positions and joint angles, and I want to publish joint_state and send transform to ros through rosserial_arduino.

when updating joint_state, I find that I cannot use resize() method, the way in tutorial using urdf with robot_state_publisher, since I do not install string lib on arudino ide. Is it neccesary to do so? Or, there is another way to substitute it using arduino code?

Is there any suggestion to code what I want to do on arduino? Thanks!

Here is part of my code with regard to update the joint_state and transform:

    geometry_msgs::TransformStamped ts;
    const double d2r=1000/57296; //turn degrees to radians

//update transform from odom to base_link
       ts.header.frame_id=odom;
       ts.child_frame_id=base_link;
       ts.transform.translation.x=0;
       ts.transform.translation.y=0;
       ts.transform.translation.z=.0115;
       //q.setRPY(0,0,ArmDataUnion.ArmData.Baseangle*d2r+d2r/2);
   //ts.transform.rotation.w=;
   ts.transform.rotation=tf::createQuaternionMsgFromYaw(ArmDataUnion.ArmData.Baseangle*d2r+d2r/2);
   ts.header.stamp=nh.now();

  //update joint_state
  joint_state.header.stamp=nh.now();
  //joint_state.name.resize(3);
  //joint_state.position.resize(3);
  joint_state.name[0]="base_joint";
  joint_state.position[0]=ArmDataUnion.ArmData.Baseangle*d2r;
  joint_state.name[1]="long_joint";
  joint_state.position[1]=ArmDataUnion.ArmData.LongArmangle*d2r;
  joint_state.name[2]="short_joint";
  joint_state.position[2]=ArmDataUnion.ArmData.ShortArmangle*d2r;


  //send the joint state to topic /joint_states
  joint_pub.publish(&joint_state);
  //send transform
  broadcaster.sendTransform(ts);

Edit1: Thanks for ahendrix's advice, I take a look at rosserialOverviewMessages

and modify my code according to what this tutorial does

But error occurs unfortunately.

    ros_dobot_arduino:93: error: 'jstate' does not name a type
 jstate.name=name;
 ^
ros_dobot_arduino:95: error: 'jstate' does not name a type
 jstate.name_length=3;
 ^
exit status 1
'jstate' does not name`enter code here` a type

It seems like sensor_msgs::JointState object does not have the methods which tutorial shows?

Edit2

#include <ros.h>
#include <sensor_msgs/JointState.h>
#include <ros/time.h>
#include <tf/tf.h>
#include <tf/transform_broadcaster.h>
#include <pt.h>   // include protothread library

The above are what I have included in Arduino code

Edit3

I have founded where the problem was.

It was because I assign value to rosserial msg before setup() function, which means the nodehandle has not yet been initialized!

I think, due to this, rosserial msg can not be used, right? If so, I want to know why needs a nodehandle, I just assgin a value to msg object?

At first, I want to pre-assign value to some msg because joint name did not ... (more)