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If you just want to change the robot's starting position (after you load the map), just change the origin in willow_garage_map.yaml, maybe to 0.0,0.0,0.0 .But you should keep in mind this position is based on the map frame. However, If you want to properly locate the robot, you should use '2D pose estimate' in rviz first, and then using AMCL, localize the robot (by rotating in position).