text: #!/usr/bin/env python
  from __future__ import division
  
  import rospy
  import tf
  from nav_msgs.msg import Odometry
  import numpy as np
  from sensor_msgs.msg import Imu
  
  def callback(msg):
      ori = msg.pose.pose.orientation
      roll, pitch, yaw = tf.transformations.euler_from_quaternion( (ori.x, ori.y, ori.z, ori.w) )
      print(yaw * (180 / np.pi))
  def imu_callback(imu_msg):
      # ori = msg.pose.pose.orientation
      roll, pitch, yaw = tf.transformations.euler_from_quaternion([imu_msg.orientation.x, imu_msg.orientation.y, imu_msg.orientation.z, imu_msg.orientation.w])
      # roll, pitch, yaw = tf.transformations.euler_from_quaternion( (ori.x, ori.y, ori.z, ori.w) )
      print(yaw * (180 / np.pi))
  
  rospy.init_node("quat2euler")
  
  rospy.Subscriber("mavros/imu/data/corrected", Imu, imu_callback)
  
  rospy.spin()
  