ROS2 tf2 Quaternion to RPY

Q2RPY.cpp

....
#include <tf2_geometry_msgs/tf2_geometry_msgs.h>

int main()
{
  ....
  
  tf2::Quaternion quat_tf;
  geometry_msgs::msg::Quaternion quat_msg = pose.pose.orientation;
  tf2::fromMsg(quat_msg, quat_tf);
  double r{}, p{}, y{};
  tf2::Matrix3x3 m(quat_tf);
  m.getRPY(r, p, y);
}