x

import rospy
import tf
from geometry_msgs.msg import Quaternion

# Create a quaternion object
quat = Quaternion()
quat.x = 0.1
quat.y = 0.2
quat.z = 0.3
quat.w = 0.4

# Convert the quaternion to a rotation matrix
rot_matrix = tf.transformations.quaternion_matrix([quat.x, quat.y, quat.z, quat.w])

# Print the rotation matrix
rospy.loginfo("Rotation matrix:\n{}".format(rot_matrix))