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I think you should be able to edit the param\Kinect_costmap_params.yaml file under turtlebot_navigation package, and add origin_x and origin_y values, and then pass that file in when I call AMCL.
Example: Kinect_costmap_params.yaml origin_x: 15.0 origin_y: 6.5
AMCL would be started with this: roslaunch turtlebot_gazebo amcl_demo.launch map_file:=<path to="" map="" yaml=""> custom_param_file:=<path to="" kinect_costmap_params.yaml="">
Unfortunately, that didn't work for me - I'm thinking I just didn't find the correct config file.
*Additionally, there's a known issue that you can't set the ORIENTATION of a costmap, which is what I need: https://github.com/ros-planning/navigation/issues/166
I think I'm going to recreate a map, but start my map-making in the middle of the "room" this time, so that hopefully, it will consider that (0,0).
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