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I had a similar need so I wrote a simple Python node that does this for the quaternion in nav_msgs/Odometry messages. It allows you to select the Euler rotation convention and will also optionally output the Euler angles in degrees. If you want to take a look it's called quat_to_ypr.py in the starmac_tools package (starmac_common stack).
Rotations in ROS are always communicated as Quaternions. You will need to convert them by hand. TF uses Bullet internally which has utility methods to convert to and from Euler angles. See here.
Asked: 2012-03-23 02:07:16 -0500
Seen: 446 times
Last updated: Mar 23 '12
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