Reported rpy angles in quaternions in orientation topics are broken

[charlielito]

Description

• Version: latest
• Platform: web
• Data source (e.g. bag file, mcap file, rosbridge, ROS 1/2 native): mcap

Steps To Reproduce
Use this rosbag to visualize /imu/data topics and /camera/color/image_raw to see what the robot is doing

When inclined the robot reports a pitch of approx 19 degrees. See image

Then when changing just the yaw 90 degrees and the inclining it again, the roll and pitch visualized values get crazy:

Expected Behavior
We expect in both cases the pitch to have similar values.

Note: the quaternion values are correct and we corroborated that correctly transforming them will give us the correct values of pitch and roll

[laisspportugal]

Hi @charlielito,

Thank you for your feedback and contribution. We will evaluate your PR as soon as possible.

Best Reagards,
Lichtblick team