How to set the initial pose for the robot in navigation?

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AMCL provides the "global_localization" service for this use case (see AMCL wiki page). It disperses particles randomly in the given map and hopefully finds the correct robot pose after the robot moved around a little bit, pruning "bad" particles. You´ll have to test how well that works for your scenario, though. I haven´t played around with it much, but I´d expect that huge and redundant looking environment (e.g. with lot of places looking the same) will be a challenge. If you are able to set the initial_pose, that definitely would be the more reliable method.

This is the method to automatically position the robot on the map. (Alternative of 2D pose button)

Open RViz. Using pose estimate position the robot to the required pose.

rostopic echo /amcl_pose

note x and y of posotion

pose: pose: position: x: 0.2692 y: 0.0218 z: 0.0

give x as initial x pose give y as initial y pose

<include file="$(find v1robot_description)/launch/amcl.launch" &gt;="" <arg="" name="initial_pose_x" value="0.2692"/> <arg name="initial_pose_y" value="0.0218"/> </include>

add these values as the arguments initial_pose_x, initial_pose_y In my case orientation was not needed(so I have not tried changing orientation)

So from the next time when we load gazebo+amcl, the mobile robot automatically positions itself on the map. So no need to manually set the home pose using 2D pose estimate button once initial pose arguments are set.

Yep, set robot's initial pose and goal pose manually, by choosing 2D Pose Estimate and 2D Nav Goal to mark it(your robot's location and pose).