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The start position should be set by initial_pose_x, initial_pose_y of the amcl. If so, you can put it in the launch file. Or, I think we'll have to create a node to send the initialpose.

I think the end position should be rostopic from the launch file to send /move_base_simple/goal. https://answers.ros.org/question/47973/publishing-to-move_ base_simplegoal/ is helpful. Alternatively, you'll want to create a node that sends move_base_simple/goal or move_base/goal.