Question regarding Roll Pitch Yaw and coordinate system

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Hi all !

I have a question regarding the Roll Pitch Yaw convention in ROS (applying to all the the getRPY and quaternion convertion function).

I am aware that the convention in ROS is the fixed XYZ transform based on this [post].(http://answers.ros.org/question/58863/incorrect-rollpitch-yaw-values-using-getrpy/)

But what happens if the two coordinate systems used are not the same. Does the same Roll Pitch Yaw can be applied on both to express orientation ?

In my application my sensor is in NED and returns me the Roll Pitch Yaw. Can I apply this directly into ROS and use it in the quaternion convertion, to make a odometry message or to use it in a TF since ROS is in ENU ?

Thanks again !