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I think I understand your problem now. RViz only displays the robot's view of the world, so you can't really set something directly. I also don't know why you would need that. I can think of some ways to achieve what you want. Bascially you need a transformation going from <some_frame> -> /base_link that equals the gazebo pose.

  • In your map, change the map offset so it fits the position. /map -> /base_footprint should now work with localization.
  • Use a fake_localization with the gazebo position.
  • Publish a custom tf /gazebo_pose -> /base_footprint