write a ROS Node that converts Quaternion representations to Euler angle representations.

Create a new ROS package called $$quat$\_$to$\_$euler$.$

Implement a subscriber that takes Quaternions as inputs. Use the $$Quaternion$.$msg$$ message type.

Tip: Your subscriber callback function will have the following argument: $$const geometry$\_$msgs::Quaternion::ConstPtr& msg$$ if you are using C$++.$

Implement the conversion formulas from the wiki page above.

Do not forget to check the CMakeLists configurations necessary to build your code.

Launch your Node.

Publish your Node using the terminal.

Your Node should print the resulting Euler angles to the terminal.

TIP: you can use the command below:

rostopic pub YOUR$\_$TOPIC$\_$NAME geometry$\_$msgs$/$Quaternion $[$PRESS TAB TWICE TO AUTOCOMPLETE THE ARGUMENTS $($don$$t forget to leave an empty space after $$Quaternion$$ before pressing tab$)]$