SLAM Map relocalisation for Turtlebot

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Hello guys,

i uses ros kinetic with gazebo 7.0. I described my location problem in this thread:

Location problem after i drived into an object

Now i think the problem with the map Deviation can be solved if i can relocalisate my Robot.

To understand what kind of map i use here are my commands for mapping:

Building map:

roslaunch turtlebot_gazebo gmapping_demo.launch

Starting map:

roslaunch turtlebot_gazebo amcl_demo.launch map_file:=/home/<user_name>/turtlebot_custom_maps/tutorial.yaml

So my question is, is there a way to relocalise the Robot manually if there is a too big deviation from map position to real position. Or is there a map that fits better for the requirement i needed?