def make_pose_msg(position, orientation, timestamp):
pose_msg = PoseStamped()
pose_msg.header.stamp = timestamp
pose_msg.header.frame_id = '/dvs_simulator'
pose_msg.pose.position.x = position[0]
pose_msg.pose.position.y = position[1]
pose_msg.pose.position.z = position[2]
pose_msg.pose.orientation.x = orientation[0]
pose_msg.pose.orientation.y = orientation[1]
pose_msg.pose.orientation.z = orientation[2]
pose_msg.pose.orientation.w = orientation[3]
return pose_msg
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