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Yes, it is possible to spawn the robot at a user-defined pose. See this launch file for an example:

https://github.com/dfki-ric/mir_robot/blob/bc6c4ff4f9a980ec25f2159af72295411b7d09f2/mir_gazebo/launch/mir_empty_world.launch

Usage is like this:

sudo apt install ros-melodic-mir-gazebo
roslaunch mir_gazebo mir_empty_world.launch robot_x:=1.0 robot_y:=2.0 robot_yaw:=0.78

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