#!/usr/bin/env python
import rospy
from nav_msgs.msg import Odometry
from tf.transformations import euler_from_quaternion, quaternion_from_euler

def get_rotation (msg):
    global roll, pitch, yaw
    orientation_q = msg.pose.pose.orientation
    orientation_list = [orientation_q.x, orientation_q.y, orientation_q.z, orientation_q.w]
    (roll, pitch, yaw) = euler_from_quaternion(orientation_list)
    rospy.loginfo(f"roll:{roll} pitch:{pitch} yaw:{yaw}")

rospy.init_node('my_quaternion_to_euler')
sub = rospy.Subscriber ('/odom', Odometry, get_rotation)

if __name__ == "__main__":
    r = rospy.Rate(1)
    while not rospy.is_shutdown():
        r.sleep()
    