float yaw ;
yaw += M_PI/2;
yaw = std::atan2(std::sin(yaw), std::cos(yaw));
geometry_msgs::Quaternion q = tf::createQuaternionMsgFromYaw(-yaw);
object.pose.orientation = q;
float yaw ;
yaw += M_PI/2;
yaw = std::atan2(std::sin(yaw), std::cos(yaw));
geometry_msgs::Quaternion q = tf::createQuaternionMsgFromYaw(-yaw);
object.pose.orientation = q;