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robot_pose_ekf broadcasts the tf transform from odom_combined to base_link (odom_combined -> base_link) which amcl uses to compute the position of the robot. A good explanation of how this works can be found here: http://www.youtube.com/watch?v=C92bxCr05Gs

The turtlebot_navigation package does what you are describing. Checkout the autonomously navigating in a known map tutorial. (http://www.ros.org/wiki/turtlebot_navigation/Tutorials/Autonomously%20navigate%20in%20a%20known%20map)