Thanks for the proposal, it can actually do the job.
I’m trying an other way for testing the more efficient solution and I’ve got a problem, I want to convert directly into the CORE2 the rpy vector into quaternion by using the tf::createQuaternionFromRPY function like described in the http://docs.ros.org/diamondback/api/tf/html/c++/namespacetf.html
The buid failed because ‘createQuaternionFromRPY’ is not a member of ‘tf’.
I don’t understand what happen and I don’t found the tf.h library into the hFramework git repository .
Can you give me more explanations about how to use the tf functions into the CORE2 ?
Thanks a lot for support.