I think when Robert Frost said that "a poem begins as a lump in the throat, a sense of wrong, a homesickness, a lovesickness" he was agreeing with William Wordsworth, who said that a poetry results from powerful emotions remembered in tranquility.
Emily Dickinson said that she knew she was reading real poetry by her physical reaction to it.
I think three great poets are telling us that the best poetry begins with emotion and communicates emotion.
Here is an example that comes to mind:
Speechless
by Ko Un
loose translation/interpretation by Michael R. Burch
At Auschwitz
piles of glasses,
mountains of shoes ...
returning, we stared out different windows.
It’s a deceptively simple poem which begins with an overwhelming emotion: seeing the Auschwitz death camp. The poet puts readers in his shoes, so to speak.