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AMCL wants to know where the robot is located in the map. That will be its initial position and from which it starts map->odom transform.
You can do this by using RViz2 and choosing 2D Pose Estimate or by directly publishing on a topic called initial_pose or initial_position something like that. Check your topic list to find the exact topic and message type.
| | 2 | No.2 Revision |
AMCL wants to know where the robot is located in the map. That will be its initial position and from which it starts map->odom transform.
You can do this by using RViz2 and choosing 2D Pose Estimate or by directly publishing on a topic called initial_pose or initial_position something like that. Check your topic list to find the exact topic and message type.
EDIT: There is a third way of setting the initial pose, by setting it as a parameter. Except you need to change set_initial_pose to true in line 18 of your config file.
You can find the list of parameters for AMCL here with the description of set_initial_pose as:
Description
Causes AMCL to set initial pose from the initial_pose* parameters instead of waiting for the initial_pose message.
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