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The general command should look like this pub <topic-name> <topic-type> [data...].

So the geometry_msgs/Pose [...] part is wrong in your example. If you hit tab after geometry_msgs/PoseStamped it will create you the required data fields and you can fill them out. Not that the orientation in a pose is actually a quaternion and thus requires for values.

rostopic pub -r 1 /mavros/setpoint_position/local  geometry_msgs/PoseStamped "header:
  seq: 0
  stamp:
    secs: 0
    nsecs: 0
  frame_id: ''
pose:
  position:
    x: 0.0
    y: 0.0
    z: 0.0
  orientation:
    x: 0.0
    y: 0.0
    z: 0.0
    w: 0.0"