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"is it likely the robot will know where it is or do you need to set its pose"

"It depends" is the answer in my experiance. AMCL for example can sometimes figure out where it is, but sometimes gets confused and I need to set pose in rviz.

"Now I want to be able to map an area once. Then uses it over and over again."

I use hector_mapping to generate and save a map once, and then I use map_server to reload it and navigate it with AMCL and move_base.