> ## Documentation Index
> Fetch the complete documentation index at: https://scaledfoundations-rebrand.mintlify.site/llms.txt
> Use this file to discover all available pages before exploring further.

# Pose Client

## PoseClient

Inherits from: [ROSClient](/robot-api/grid/comm/ros/base_client#rosclient)

A ROS client for handling pose messages.

This class inherits from ROSClient and provides functionality for publishing and
receiving pose messages over ROS topics.

### PoseClient

```python
PoseClient(client_dict, agent_dict)
```

Initialize the pose client.

<ResponseField name="Arguments">
  <ParamField query="client_dict (dict)" type="" required>
    Configuration dictionary for the client
  </ParamField>

  <ParamField query="agent_dict (dict), optional" type="">
    defaults to None.
    Dictionary of agent parameters. Defaults to None.
  </ParamField>
</ResponseField>

### publish\_pose

```python
PoseClient.publish_pose(position, orientation)
```

Publish a pose message.

<ResponseField name="Arguments">
  <ParamField query="position (array-like)" type="" required>
    Position as \[x, y, z]
  </ParamField>

  <ParamField query="orientation (array-like)" type="" required>
    Orientation as quaternion \[x, y, z, w]
  </ParamField>
</ResponseField>

### process\_latest\_msg

```python
PoseClient.process_latest_msg()
```

### publish\_agent\_pose

```python
PoseClient.publish_agent_pose()
```

### get\_position

```python
PoseClient.get_position()
```

### get\_orientation

```python
PoseClient.get_orientation()
```

Get the current orientation.

<ResponseField name="Returns">
  Current orientation as quaternion \[x, y, z, w]
</ResponseField>