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You can make geometry_msgs/Pose messages now using the MessageFactory that you can get from Node::getTopicMessageFactory(). The MessageFactory takes a type that you can get through the interface like so:

geometry_msgs.Pose msg = mNode.getTopicMessageFactory().newFromType(geometry_msgs.Pose._TYPE);

At least that is how I am doing it on 438c2ba9b5ad, and looking at the hg repository, it doesn't look like this method has changed since then.