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Hi Ray,

A geometry_msgs/Pose consits of a geometry_msgs/Point and a geometry_msgs/Quaternion (click for details). Hence you can't convert a point to a pose, since the orientation is missing.

That said, you can however write a node. Design a class where you register a Subscriber and Publisher in the constructor by passing the NodeHandle as argument. In the callback for the subscriber (Point-topic) you create a new pose message and pass the point as pose.position and a add a custom quaternion as pose.orientation. I would make the orientation a ROS-Parameter which i can set in the launch file.