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tf::createQuaternionMsgFromYaw is an method in C++. tf.transformations.quaternion_from_euler is an method in Python. I don't think there is any difference except program language in this program.They are the some function which translate yaw(in euler) to quaternion in this program. I believe that would be something wrong in your computing formula of yaw. In your code: geometry_msgs::Quaternion odom_quat = tf::createQuaternionMsgFromYaw( bot->m_odometry_yaw); you should give the bot->m_odometry_yaw the right value.