tf::Quaternion q;
tf::quaternionMsgToTF(imu_msg->orientation, q);
tf::Matrix3x3(q).getRPY(roll, pitch, yaw);
tf::createQuaternionMsgFromRollPitchYaw(double r, double p, double y)
转载于:https://my.oschina.net/itfanr/blog/1925529
tf::Quaternion q;
tf::quaternionMsgToTF(imu_msg->orientation, q);
tf::Matrix3x3(q).getRPY(roll, pitch, yaw);
tf::createQuaternionMsgFromRollPitchYaw(double r, double p, double y)
转载于:https://my.oschina.net/itfanr/blog/1925529