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By default, this is not possible.

You would have to adapt gmapping. I.e.

1. load the a-priori map
2. put it into the respective variable
3. initialize the particle filter in a way that it's location corresponds to the correct one on the already existing map.

What will probably not work is to have a starting location that is off of the already existing map.

All in all, I guess this would be a great, but also non-trivial addition.