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This question with its answers seems to be connected:

• https://answers.ros.org/question/81836/intialpose-is-in-what-reference/

[Initial pose in RVIZ] is being sent in the frame that you set as the fixed frame in rviz.

and

The pose sent is in reference to the fixed frame in RVIZ - and therefore, you should almost certainly have your fixed frame set to /map as AMCL is determining the transform from base_link->odom->map, and the pose you send should be where base_link is in terms of map (so that the initial_odom->map transform can be determined)

Can you check your fixed frame in RViz?