msg: pose

simple_msgs - Pose

simple_msgs::Pose messages represent a 3D position and orientation in space.
It is composed of a simple_msgs::Point: X, Y, Z
and a simple_msgs::Quaternion: X, Y, Z, W.

A simple_msgs::PoseStamped message is a Pose + Header:
the pose can then be linked to a reference frame defined by Header.frame_id and their timestamp can be stored in Header.timestamp.

In code:

simple_msgs::Header my_header{0, "root", 1.0};
simple_msgs::Point my_point{1.0, 3.0, 2.0};
simple_msgs::Quaternion my_quaternion{0.0, 0.0, 0.0, 1.0};
simple_msgs::PoseStamped my_posestamped{my_header, simple_msgs::Pose{my_point, my_quaternion}};

You can manipulate the PoseStamped message using its setters/getters. E.g.

my_posestamped.getPose.getPosition.setX(0.0);

Note: simple sends the message that you create, you are responsible to check if the sent pose is valid.

Check the APIs!