Regarding Basic Kinematics - what's the relevance of pose estimation?

I tried doing odometry part in unit 3. But I didn’t understand the concept of pose estimation where in we estimate the pose but we are also launching move_robot.launch code. What is the link between them.

You need to know the pose of your robot in order to move in the direction you want to move or need to move in order to avoid an object. The pose let’s you know you robot’s orientation in simple terms it tells you whether your robot is facing the direction you want it to or does it need to turn if so do you turn left or right. Without the pose you have know idea how your robot is oriented in the environment so you have no way of knowing what direction your robot should move or how far it should move. The pose is an essential part of kinematics.

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