extracting orientation from Stage odometry using quaternions

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hello everyone.

i'm writing a subscriber of a nav_msgs/Odometry topic where Stages writes its own messages. I can easily get x,y position of robot, while for its orientation i should elaborate quaternion included in each message. I know, from other tutorials, that i could solve problem by using

tf::getYaw(robot_pose.orientation)

where robot_pose.orientation is the quaternion contained in every generic message received. To make this work, i should add at the beginning of file

#include "tf/transform_listener"

but no header and no file is found with such name at compiling time. By using command

rospack find tf

i realized that i have tf package installed. I even built it through command rosmake. can you help me?

thank you