code: def pose_msg(self):
          
          pose = msg.Pose()
          pose.orientation.w = float(self.quaternion[0])
          pose.orientation.x = float(self.quaternion[1])
          pose.orientation.y = float(self.quaternion[2])
          pose.orientation.z = float(self.quaternion[3])
          pose.position.x = float(self.translation[0])
          pose.position.y = float(self.translation[1])
          pose.position.z = float(self.translation[2])
          return pose
docs: :obj:`geometry_msgs.msg.Pose` The rigid transform as a geometry_msg pose.