Static Map corner at origin for Navigation Stack

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Going through the tutorials for the ROS Navigation stack, using a static map generated through gmapping.

This is done on a simulation. When to robot is initialized, it is located at the origin. I perform gmapping and the map is generated, centered around origin.

However, after launching the navigation stack, following the tutorial, the static map seems to have the corner located at origin, and thus leads to

[ WARN] [1521163803.387421877, 5297.630000000]: The origin for the sensor at (-0.10, 0.03) is out of map bounds. So, the costmap cannot raytrace for it.

Note: If i add the map through map_server, and visualize it through RVIZ, then the map is properly centered with the center of the map on origin. I am vaguely aware about the ability to add offsets to the static map. But not too clear on how, and I feel as though static offsets arn't an ideal solution, if the size of the map can change.