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The only real difference between them is that TransformStamped has a child_frame_id field, and PoseStamped doesn't. This implies that the former specifies a transform from the header's frame_id to child_frame_id. However, it's just a message, and does not affect the tf transform tree.

In any case, just from a brief glance at the package wiki page, it looks like they're just stuffing a pose in there. You can pull the source code from their repo and modify it to output the message type you want.