我想通过代码替代rviz中2D Pose Estimate功能。在RDK X3端运行以下节点。无法替代rviz中2D Pose Estimate功能。rviz中无反应，直接用鼠标点击rviz中2D Pose Estimate功能，是没问题的。
请问有什么办法实现吗？

以下代码无法正常初始化2D Pose Estimate功能

#include "rclcpp/rclcpp.hpp"
#include "geometry_msgs/msg/pose_with_covariance_stamped.hpp"

class PoseEstimatePublisherNode : public rclcpp::Node {
public:
    PoseEstimatePublisherNode() : Node("pose_estimate_publisher_node") {
        // 创建Publisher
        pose_estimate_publisher_ = this->create_publisher<geometry_msgs::msg::PoseWithCovarianceStamped>("/initialpose", 1);

        // 构建2D Pose Estimate消息
        auto pose_estimate_msg = std::make_shared<geometry_msgs::msg::PoseWithCovarianceStamped>();
        pose_estimate_msg->header.stamp = this->now();
        pose_estimate_msg->header.frame_id = "map"; // 设置坐标系
        pose_estimate_msg->pose.pose.position.x = 0.27; // 设置机器人的x坐标
        pose_estimate_msg->pose.pose.position.y = -0.44; // 设置机器人的y坐标
        pose_estimate_msg->pose.pose.orientation.w = 1.0; // 设置机器人的朝向，假设朝向为0度

        // 发布2D Pose Estimate消息
        pose_estimate_publisher_->publish(*pose_estimate_msg);

        RCLCPP_INFO(this->get_logger(), "Published initial pose estimate: x=%f, y=%f, orientation=%f",
                     pose_estimate_msg->pose.pose.position.x,
                     pose_estimate_msg->pose.pose.position.y,
                     pose_estimate_msg->pose.pose.orientation.w);
    }

private:
    rclcpp::Publisher<geometry_msgs::msg::PoseWithCovarianceStamped>::SharedPtr pose_estimate_publisher_;
};

int main(int argc, char * argv[]) {
    rclcpp::init(argc, argv);
    auto node = std::make_shared<PoseEstimatePublisherNode>();
    rclcpp::spin(node);
    rclcpp::shutdown();
    return 0;
}