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bricerebsamen/rpy_tf2.cpp

Last active August 29, 2015 14:19
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roll pitch yaw from tf2 transform using KDL
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rpy_tf2.cpp
#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
#include <tf2_kdl/tf2_kdl.h>
geometry_msgs::TransformStamped trans;
double roll, pitch, yaw;
tf2::transformToKDL(trans).M.GetRPY(roll, pitch, yaw);
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