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The way to go is with the origin: [0.0, 0.0, 0.0] parameter defined inside map.yaml, set to a negative number (in meters) such as origin: [-8.0, -8.0, 0.0] . If you have changed this value and it does not translate on rviz then ensure that "Global options" -> "Fixed Frame" is set as "map". You could post a link to your code or more details to reproduce the error, for me moving altering origin works.