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per https://stackoverflow.com/a/33887151/1200764 - you can also

specify the initial pose estimate directly as startup parameters for amcl, see initial_pose_x and other similar parameters. This is appropriate for example if you can fix these parameters in your launch file before starting the node.

e.g. <arg name="initial_pose_x" value="-1.0"/> <arg name="initial_pose_y" value="10.0"/> <arg name="initial_pose_z" value="0.0"/>

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