How should I know the real pose of the GridMap

edit

I received the map data from the topic named map, and I used the data to draw an OccupyGrid, the topic usually return a square array data, the width * height looks like 192 * 192, 512 * 512.

But the topic return a non-square array data occasionally, like 5035, 10080. In this case, the data of the topic looks like:

root@user-laptop:/home/ros-test# rostopic echo map
header:
    seq: 7270
    frame_id: "map"
info:
    resolution: 0.0500000007451
    width: 100
    height: 80
    origin:
        position:
          x: -5.0
          y: -4.0
          z: 0.0
        orientation:
          x: 0.0
          y: 0.0
          z: 0.0
          w: 1.0
data: [....]

And I subscribed the robot_pose topic to render a pose shape on the OccupyGrid in my app that is incorrect. But the pose is correct in another app(deigo-app). Sorry I can't let the bug appear again, but it's real.

I found a project on github named RobotCA: https://github.com/ros-autom/RobotCA. I think the deigo-app is based on this project. However the RobotCA only rendered a LaserScan map without a OccupyGridMap. I read the source code of android-apps, It is render the pose by using the topic "initialpose", the link is behind:

https://github.com/rosjava/android_ap...

I can't find the "initialpose" topic on my machine.

root@user-laptop:/home/ros-test# rostopic list | grep pose
/amcl_pose
/robot_pose

But the deigo-app is still work. I don't know which topic is used. I don't have the source code.

The deigo-app apk file is here :https://ufile.io/m53g4ei6, no virus.

How can I render the pose correctly in GridMap?