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If you look at the rviz code, all its doing is calling the initialpose topic. Though it sets a particular set of covariances, perhaps that would be what you're looking for.

https://github.com/ros2/rviz/blob/1ee274d74b156390260910b042242a5c11a34c00/rviz_default_plugins/src/rviz_default_plugins/tools/pose_estimate/initial_pose_tool.cpp#L109-L111

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