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  1. If you give the (correct) pose estimation in rviz, you increase the chance that amcl will localize accurately robot actual location.
    1. The robot location only updates if the particles have converged. If particles are still spreading, there is no guarantee that robot location will be updated.
    2. AMCL gives the tf between map and odom, it gives estimated position of robot with reference to a known map. Hector slam, on the hand, doesnt use any known map; in navigation, hector slam is normally used to keep give tf from odom to baselink. So you cant simply replace amcl by hector slam for the purpose of robot localization.
  1. If you give the (correct) pose estimation in rviz, you increase the chance that amcl will localize accurately robot actual location.
      location.
    1. The robot location only updates if the particles have converged. If particles are still spreading, there is no guarantee that robot location will be updated.
    2. AMCL gives the tf between map and odom, it gives estimated position of robot with reference to a known map. Hector slam, on the hand, doesnt use any known map; in navigation, hector slam is normally used to keep give tf from odom to baselink. So you cant simply replace amcl by hector slam for the purpose of robot localization.