Implementation with ROS #23

Has anyone tried this code in a ROS setting? I'm stuck at getting the transformation matrix, and more specifically, the rotation matrix. I am simulating the setup in Gazebo.

ROS uses a coordinate system where

X : forward
Y : left
Z : up

I am obtaining the pose matrices of 'world' to 'camera_depth_optical_link', since that is supposed to have the right transformations. For instance, one of the transformations is:

[[-7.10359030e-01 -5.65690465e-01 4.18789143e-01 5.30712575e-02]
[-7.03839505e-01 5.70930343e-01 -4.22668304e-01 2.73008553e-01]
[-3.93540756e-12 -5.95006589e-01 -8.03720821e-01 4.58332924e-01]
[ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]

For better understanding, the rotation matrix in degrees corresponds to :
[-1.43486898e+02 2.25488605e-10 -1.35264135e+02]

I am merely rotating my camera about a vertical pole. (so, in this the 3rd element constantly changes) What must I do to get the correct transformation matrices. I have referred to issue #11 and have understood that this transformation is what I need to correct, however, despite several attempts, I am unable to get the right pose. Any solution will be appreciated!