Relocalisation with Turtlebot on a Map?

edit

Hello guys,

i uses ros kinetic with gazebo 7.0. I have following problem:

I run a turtlebot in a world i created. Now i want to drive into an object with my turtlebot to see whether i can push it or not. The main problem here is when i drove into the object for 1-2 seconds i got a big deviation on my map.

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?