Robot initial pose accuracy
Hi, I have a robot. I use imu sensor and odometry for localization on map. But the initial pose of robot in real life and simulation are not same. Imagine I put robot at the starting point of the map in real life and in RVIZ I put robot at the starting point. But in real I might put it a few centimeter in real life away from position in simulation. I hope I did tell my trouble.
It is not clear what your question is.
Also, it is not correct to believe that a robot in simulation will behave EXACTLY like a robot in the physical world. It won't because of limitations in the simulation.