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I suggest you look here. I don't imagine that navigation with an Occupancy Grid Map will be any different based on its orgin. An occupancy grid map is a map of fixed size containing

An occupancy grid map represents the map as a field of random variables arranged in an evenly spaced grid. Each random variable is a binary and corresponds to the occupancy of the location it covers.

~ Probabilistic Robotics definition.

This means that the Occupancy of a space is a binary comparision (1 = occupied, 0 = empty). Hope this was helpful! Just try the navigation stack with your map.