tf.h

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#ifndef ROS_TF_H_
#define ROS_TF_H_

#include "geometry_msgs/TransformStamped.h"

namespace tf
{
  
  geometry_msgs::Quaternion createQuaternionFromYaw(double yaw)
  {
    geometry_msgs::Quaternion q;
    q.x = 0;
    q.y = 0;
    q.z = sin(yaw * 0.5);
    q.w = cos(yaw * 0.5);
    return q;
  }

}

#endif