Quaternion to RPY ROS2
In ROS1 we had the possibility to calculate RPY-euler angles from quaternion using tf like this:
tf::Quaternion q(
msg->pose.pose.orientation.x,
msg->pose.pose.orientation.y,
msg->pose.pose.orientation.z,
msg->pose.pose.orientation.w);
tf::Matrix3x3 m(q);
double roll, pitch, yaw;
m.getRPY(roll, pitch, yaw);
Is there any similar way to do it in ROS2? And if so which file do I have to include? I'm using ROS2-dashing in C++