Hi, Abhy

>From my understanding, you can randomly set the initial estimated position,
but it will take amcl longer time to converge while robot is moving in the
map. After you set a initial point, you should be able to show pose array in
rviz. Or you may try the service from amcl: global_localization

If you see the robot is not walking exactly on the the path generated, it is
okay. Because the path is from global planner, there is a local planner
going on underneath. If it fail to complete the target when it is very
close, in my case, I tweak the parameters for x,y and theta tolerance in
local_costmap_params.yaml. I was doing that on purpose, but you can also try
it see if it helps.

Chris
 
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