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You can find more about the parameters by reading the code ;-)

But also in reading the common reference book Probabilistic Robotics. There's usually not alot of docs about it since that's the handbook most of us have on our desks. You use the topic directly if you dont want to click somewhere to seed the filter, or use the initial position parameters to boot up at a specific pose.

You can seed the filter evenly over the entire map and it will try to converge to your location, but that's not really the way I imagine you're looking to go. To localize, in general, you need to tell it where it is to start.