How to get the Euler Angle (Roll, Pitch, Yaw) data of the UAV in Gazebo?

[daydayupcg137]

       Excuse me, can you help me?How do I get the Euler Angle (Roll, Pitch, Yaw) data of the UAV in Gazebo?I can currently find _**/MAVROS/local_position/pose**_ from the Mavros topic, but it contains XYZ position and Quaternion, not Euler Angle data.

[keipour]

Assuming that your callback function is called pixhawk_pose_callback, the code would be this:

void pixhawk_pose_callback(geometry_msgs::PoseStamped pose) {
  tf::Quaternion q(pose.pose.orientation.x,
           pose.pose.orientation.y,
           pose.pose.orientation.z,
           pose.pose.orientation.w);
  double roll, pitch, yaw;
  tf::Matrix3x3(q).getRPY(roll, pitch, yaw);
}

You would also need to define tf as dependency and include this at the top: #include <tf/transform_datatypes.h>