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The information you want is in the /odom pose.pose.orientation quaternion. There are transforms available to convert the quaternion representation to 3D Euler roll, pitch, yaw. (pay attention to ROS standard order of operations for Euler, ZYX, IIRC)

For simulation you, you would expect 2D flat world would have only yaw, with roll and pitch = 0. In the case shown, only the quaternion z (and w) are non-zero, which is typical for pure rotation about z-axis