Reading Roll - Pitch - Yaw angles using ROS2


I am developing a ground control station software using Ros2. I couldn’t quite understand where I could get the roll - pitch - yaw angles of the plane. In the mavlink inspector in QgroundControl, it is seen that this data is received in the Attitude message. But the VehicleAttitude message in ros2 actually corresponds to the Attitude Quaternion message in mavlink.

Yaw angle can be obtained using quaternion data, but pitch and roll angles change as the yaw angle changes. I think this is because the Quaternion data is produced according to the NED frame. In this case, how can I get the pitch and roll angles via Ros2?