How to initialize relocalization pose in a program?

[s402xggy]

Hello author, Dr. @koide3
I want to publish the initial pose in my program for initialization. However, during actual execution, the hdl_localization terminal keeps printing "waiting for pose initialization," causing my program to be unable to publish the initial pose. Can your program only initialize the pose through launch or RViz? What needs to be modified to send it programmatically?

[SonettoII]

Same issue, could you give me some advice to use relocalization in the intial pose stage?