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Set the footprint parameter of your costmap configuration to a list of points defining the bounding box as described in the navigation robot setup tutorial. Here's the example costmap configuration file given there:

obstacle_range: 2.5
raytrace_range: 3.0
footprint: [[x0, y0], [x1, y1], ... [xn, yn]]
#robot_radius: ir_of_robot
inflation_radius: 0.55

observation_sources: laser_scan_sensor point_cloud_sensor

laser_scan_sensor: {sensor_frame: frame_name, data_type: LaserScan, topic: topic_name, marking: true, clearing: true}

point_cloud_sensor: {sensor_frame: frame_name, data_type: PointCloud, topic: topic_name, marking: true, clearing: true}