robot loaded in different positions in Gazebo and Rviz

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Hi I loaded an image for Willow Garage in Rviz, and a world for Willow Garage in Gazebo. My rosbot2 is loaded in the default position which is the origin. However, my rosbot2 was loaded in different positions in map and world. Here is rosbot2 in Rviz(inside the red circle):

Here is rosbot2 in Gazebo(inside the red circle):

Here are my files: willow_garage_map.yaml

image: willow_garage_map.pgm
# a 584 X 526 map @ 0.100 m/cell
resolution: 0.1
origin: [-18, -15, 0.0]
occupied_thresh: 0.65
free_thresh: 0.196
negate: 0

move_my_rosbot.launch

<launch>
    <arg name="use_rosbot" default="false"/>
    <arg name="use_gazebo" default="true"/>
    <param if="$(arg use_gazebo)" name="use_sim_time" value="true"/>
    <include file="$(find rosbot_description)/launch/rosbot_rviz.launch"/>
    <arg name="map_file" default="$(find rosbot_navigation)/maps/willow_garage_map.yaml"/>
    <node name="map_server" pkg="map_server" type="map_server" args="$(arg map_file)" />
    <node unless="$(arg use_rosbot)" pkg="tf" type="static_transform_publisher" name="map_odom_tf" args="0 0 0 0 0 0 map odom 100" /> 

    <node pkg="move_base" type="move_base" name="move_base" output="screen">
        <param name="base_global_planner" value="navfn/NavfnROS"/>
        <param name="base_local_planner" value="base_local_planner/TrajectoryPlannerROS"/>
        <param name="controller_frequency" value="10.0"/>
        <rosparam file="$(find rosbot_navigation)/config/costmap_common_params.yaml" command="load" ns="global_costmap" />
        <rosparam file="$(find rosbot_navigation)/config/costmap_common_params.yaml" command="load" ns="local_costmap" />
        <rosparam file="$(find rosbot_navigation)/config/local_costmap_params.yaml" command="load" />
        <rosparam file="$(find rosbot_navigation)/config/global_costmap_params.yaml" command="load" />
        <rosparam file="$(find rosbot_navigation)/config/trajectory_planner.yaml" command="load" />
    </node>
</launch>

costmap_common_params.yaml

obstacle_range: 6.0
raytrace_range: 8.5
footprint: [[0.12, 0.14], [0.12, -0.14], [-0.12, -0.14], [-0.12, 0.14]]
map_topic: /map
subscribe_to_updates: true
observation_sources: laser_scan_sensor
laser_scan_sensor: {sensor_frame: laser, data_type: LaserScan, topic: scan, marking: true, clearing: true}
global_frame: map 
robot_base_frame: base_link 
always_send_full_costmap: true

global_costmap_params.yaml

global_costmap:
  global_frame: map
  update_frequency: 0.5 
  publish_frequency: 1.5
  transform_tolerance: 1.0 
  width: 16
  height: 16
  origin_x: -8
  origin_y: -8
  static_map: true 
  rolling_window: true 
  inflation_radius: 0.0 
  cost_scaling_factor: 10.0 
  resolution: 0.01

local_costmap_params.yaml

local_costmap:
  global_frame: map 
  update_frequency: 2.5 
  publish_frequency: 2.5 
  transform_tolerance: 1.0  
  static_map: false 
  rolling_window: true
  width: 3 
  height: 3
  origin_x: -1.5
  origin_y: -1.5
  resolution: 0.01
  inflation_radius: 0.0 
  cost_scaling_factor: 10.0

trajectory_planner.yaml

TrajectoryPlannerROS:
 max_vel_x: 0.5 
 min_vel_x: 0.1 
 max_vel_theta: 2.5
 min_vel_theta: -2.5
 min_in_place_vel_theta: 0.5
 acc_lim_theta: 1.0
 acc_lim_x: 1.5
 acc_lim_Y: 1.5
 holonomic_robot: false
 meter_scoring: true 
 xy_goal_tolerance: 0.5 
 yaw_goal_tolerance: 0.5 

 vx_samples: 6 
 vtheta_samples: 20
 controller_frequency: 0.5 


 occdist_scale:  0.01
 pdist_scale: 0.4
 gdist_scale: 0.2
 dwa: true

These are map and world files:https://www.mediafire.com/folder/q5xt...

Update:

Thanks So Young for your help.

I have tried using different pgm file, and it is better than the pgm above. Using the new pgm, the difference in rosbot2 position at Gazebo and Rviz (world and .pgm map) is not a big difference. However, it still not the same exact position. Should I use ACML ... (more)