# How to create orientation in geometry_msgs::PoseStamped from angle

Hello

I have a point in x,y, and an angle of 30 degrees, that represents a position and an orientation of a robot. The angle is about the z axis. An angle of 0 means that the robot is aligned with the x axis, and an angle of 90 degrees means that the robot is aligned with the y axis. How do represent this as a geometry_msgs::PoseStamped.position and geometry_msgs::PoseStamped.orientation?