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You are asking multiple questions, please split them, I will focus on the navigation part:

Sonar probably just won't work since they cover a large area, a single Bottle will mark a large area as occupied, what you can do is

1. configure the costmap to use Range Sensor Layer instead of the usual laser based obstacle_layer. See the the Layered costmap tutorial on how to do that.
2. Do not use amcl/gmapping and use /odom as the global frame.
3. Paint the map yourself with e.g. Inkscape and feed that to the map

Afaik there currently is no single tutorial for this, so this requires a lot of reading, it probably would be a good idea to write one.