diff --git a/include/data_convert/data_convert.h b/include/data_convert/data_convert.h
index 3d3afb4..6494c1b 100644
--- a/include/data_convert/data_convert.h
+++ b/include/data_convert/data_convert.h
@@ -12,10 +12,11 @@
 
 namespace data_convert
 {
-    inline double getYaw(const robot_geometry_msgs::Quaternion& q)
+    template<typename T>
+    inline double getYaw(const T& value)
     {
-        double siny_cosp = 2.0 * (q.w * q.z + q.x * q.y);
-        double cosy_cosp = 1.0 - 2.0 * (q.y * q.y + q.z * q.z);
+        double siny_cosp = 2.0 * (value.w * value.z + value.x * value.y);
+        double cosy_cosp = 1.0 - 2.0 * (value.y * value.y + value.z * value.z);
         return std::atan2(siny_cosp, cosy_cosp);
     }