ros python 四元数 转 欧拉角

import sys
import math

w = -0.99114048481
x = -0.00530699081719
y = 0.00178255140781
z = -0.133612662554

r = math.atan2(2*(w*x+y*z),1-2*(x*x+y*y))
p = math.asin(2*(w*y-z*z))
y = math.atan2(2*(w*z+x*y),1-2*(z*z+y*y))

angleR = r*180/math.pi
angleP = p*180/math.pi
angleY = y*180/math.pi

print (angleR)#翻滚
print (angleP)#俯仰
print (angleY)#偏航

输出：
0.575472843396
-2.24876083545
15.3574378019

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