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Interpolating between two rotation quaternions is a non-trivial bit of mathematics. Luckily this function is built into the TF2 quaternion class in ROS.

The function you want is slightly cryptically called SLERP (Spherical Linear Interpolation). This method is described here, it is a method to interpolate between this quaternion and other given quaternion at any ratio.

This will do all the hard work for you.

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