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I want to explain the relationship between *.yaml and *.pgm.

kinectF1.yaml.

image: /home/turtlebot/kinectF1.pgm
resolution: 0.050000
origin: [-100.000000, -100.000000, 0.000000]
negate: 0
occupied_thresh: 0.65
free_thresh: 0.196

If you open kinectF1.pgm(4000x4000) with Gimp Image Editor, you will understand the relationship. resolution in kinectF1.yaml means m/pixel. 0 on x-axis, 0 on y-axis and 0 theta is origin. you can calculate origin in kinectF1.yaml by dividing -100.000000 by 0.05. The result is -2000. As the upper-right corner on kinectF1.pgm is origin, 2000 on Gimp is located at -2000 from origin.

If you understand above article, you can change origin.