ddd

 nav_msgs::Odometry::ConstPtr odom = ros::topic::waitForMessage<nav_msgs::Odometry>("/" + _uav_name_ + "/odometry/odom_main", ros::Duration(10));
  virtual_heading_ = mrs_lib::AttitudeConverter(odom->pose.pose.orientation).getHeading();

srv_reference_stamped_msg.request.reference.heading    = virtual_heading_;