I'm a bit confused here. Rotating the tires means front wheels to rear and left to right. This changes nothing to the TPMS.
If you mean changing wheels, then either your new wheels don't have sensors and the light will simply remains on, or you new wheels have other sensors, then the system must be reinitialize (not the same thing as reset) to recognize the ID code of the new sensors. According to the manual, it's a dealer procedure but there probably is a in-house version (that I don't know of).
Also be sure that you have the right psi in your tires in the first place if you have to reset (to change the memorized pressure, via the button in the glove box) or reinitialize the system.
As I said, my winter wheels don't have sensors and the light remains. In spring, when I put back the original wheels with sensors, the system re-establish connection with the wheels by itself and the light goes off within minutes.
In any case I don't think disconnecting the battery help, as the system won't be any more able to recognize new sensors - or would react accordingly if there are no sensors - when back in power.