import rospy from sensor_msgs.msg import Imu def callback(data): w = data.angular_velocity rospy.loginfo("phi: %s theta:%s psi:%s", w.x, w.y, w.z) rospy.init_node('imu_listner') rospy.loginfo('init node') rospy.Subscriber('/mavros/imu/data', Imu, callback) rospy.spin()