AMCL_pose for ros3D

[C-Boucher]

Is there a way to use directly the pose from AMCL (PoseWithCovarianceStamped) in the ros3d.Pose() widget? Right now I have to create another publisher to publish a PoseStamped message using this code :

pose_msg = Pose()
def amcl_callback(msg):
    global pose_msg
    pose_msg = msg.pose.pose
    pose = PoseStamped()

    pose.header.seq = 1
    pose.header.stamp = rospy.Time.now()
    pose.header.frame_id = "map"

    pose.pose.position.x = pose_msg.position.x
    pose.pose.position.y = pose_msg.position.y
    pose.pose.position.z = 0.0

    pose.pose.orientation.x = pose_msg.orientation.x
    pose.pose.orientation.y = pose_msg.orientation.y
    pose.pose.orientation.z = pose_msg.orientation.z
    pose.pose.orientation.w = pose_msg.orientation.w

    pose_pub.publish(pose)