ROS中欧拉角和四元数转换

欧拉角转四元数

#include <ros/ros.h>
#include <tf/tf.h>

int main(int argc, char** argv)
{
   
   
  ros::init(argc, argv, "Euler2Quaternion");
  ros::NodeHandle node;
  geometry_msgs::Quaternion q;
  double roll=0.5,pitch