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There is no need to rush to rviz to set the pose. You can do this whenever you want.

It seems like gazebo is not starting properly. Start it alone with gazebo --verbose and make sure it starts properly. Also with the gazebo path defined. It will download a lot of stuff in the beginning. If this is all good, try the launch file again.

But with the headless:=false it should also show gazebo with the turtlebot and environment. Only then you must set the initial pose.