quat_to_euler.cpp

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 *  Author : Dula Nad
 *  Created: 26.03.2013.
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#include <labust/tools/conversions.hpp>

#include <auv_msgs/RPY.h>
#include <sensor_msgs/Imu.h>

#include <ros/ros.h>

void handleImu(ros::Publisher& rpy, const sensor_msgs::Imu::ConstPtr& data)
{
        double roll,pitch,yaw;
        labust::tools::eulerZYXFromQuaternion(data->orientation, roll, pitch, yaw);
        geometry_msgs::Quaternion q = data->orientation;
        //roll = atan2(2*(q.y*q.z - q.x*q.w),1-2*(q.x*q.x + q.y*q.y));
        //pitch = -asin(2*(q.x*q.z + q.y*q.w));
        //yaw = atan2(2*(q.x*q.y-q.w*q.z),1-2*(q.y*q.y+q.z*q.z));
        auv_msgs::RPY out;
        out.roll = roll/M_PI*180;
        out.pitch = pitch/M_PI*180;
        out.yaw = yaw/M_PI*180;
        rpy.publish(out);

        ROS_INFO("R=%f,P=%f,Y=%f",roll, pitch, yaw);
};



int main(int argc, char* argv[])
{
        ros::init(argc,argv,"quat_to_euler");

        ros::NodeHandle nh;

        //Publishers
        ros::Publisher rpy = nh.advertise<auv_msgs::RPY>("rpy",1);
        ros::Subscriber imu = nh.subscribe<sensor_msgs::Imu>("imu", 1, boost::bind(&handleImu,boost::ref(rpy),_1));

        ros::spin();

        return 0;
}