getYaw.py

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#!/usr/bin/env python
#AUTHOR: Younghun Ju <yhju@yujinrobot.comm>, <yhju83@gmail.com>

import roslib; roslib.load_manifest('xbot_node')
import rospy

from tf.transformations import euler_from_quaternion
from math import degrees

from sensor_msgs.msg import Imu
from geometry_msgs.msg import Quaternion
from std_msgs.msg import Float64

class Converter(object):

        def __init__(self):
                rospy.init_node("getYaw", anonymous=True)
                self.sub_imu  = rospy.Subscriber("imu", Imu, self.ImuCallback)
                self.pub_angle = rospy.Publisher("angle", Float64, queue_size=10)
                self.pub_angle_rate = rospy.Publisher("angle_rate", Float64, queue_size=10)

        def ImuCallback(self,data):
                quat = data.orientation
                q = [quat.x, quat.y, quat.z, quat.w]
                roll, pitch, yaw = euler_from_quaternion(q)
                print "angle: " + "{0:+.4f}".format(yaw) + " rad; "\
                + "{0:+.2f}".format(degrees(yaw)) + " deg"
                print "rate:  " + "{0:+.2f}".format(data.angular_velocity.z) + " rad/s; "\
                + "{0:+.2f}".format(degrees(data.angular_velocity.z)) + " deg/s"
                print '---'
                angle = Float64()
                angle_rate = Float64()
                angle.data = yaw
                angle_rate.data = data.angular_velocity.z
                self.pub_angle.publish(angle)
                self.pub_angle_rate.publish(angle_rate)

if __name__ == '__main__':
        try:
                instance = Converter()
                print 
                print "It prints angle and angular_velocity from Imu message of single yaw gyro."
                print
                rospy.spin()
        except rospy.ROSInterruptException: pass