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Good morning Neoh! It seems that we have the same questions ;)

I am new to ROS and Robotic. For the moment, I managed to get my existing map appears in the rviz environment, using the information provided by Stefan

Nevertheless, everything rely on the accuracy of the known initial position. The robot is not able to match the laser scan and the known map in order to identify the correct initial position. Is that the role of AMCL?

My final goal will be to merge the existing map (which is expected to be partially correct, and therefore helpful for path planning) and the sensed one.