One idea could be uncomment the line 
#pose [-29.350 27.000 90.000]
and comment the line
  pose [0.0 0.0 0.0]
into the .world file, in floorplane model definition...

Also it could be another idea use rviz for see there's exactly your robot
for the map_server node (add "map" and fill topic "/map", the type should be
an nav_msgs/OccupancyGrid, published by map_server).

Enea Scioni
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