In case it helps anyone else get started with a karyotype file from a known assembly that isn't already in the circos directory:
Go to the UCSC genome browser and find the right table for your organism.
In my case:
Click on "get output" and save the content as a text file. This will at least give you the chromosome info from the assembly and the correct size of the chromosomes.
You'll still have to modify the file to fit the format that Circos expects (i.e. add the chr - columns, I changed "chr" to "dr" for danio rerio in the id column, add a column of '0' for the start positions, and replace the last column with the correct chromosome # to designate color), and you can either remove pieces of the assembly (like scaffolded or unassembled regions), or suppress them via Circos later if you aren't interested in visualizing them.
The start of my karyotype file ends up looking like this:
#Zebrafish Zv9 (DanRer7) assembly downloaded 4-5-18
#removed unassembled, scaffolding, and mitochondria sequence
#chrom id label start end color
chr - dr1 1 0 60348388 chr1
chr - dr2 2 0 60300536 chr2
chr - dr3 3 0 63268876 chr3
etc.
I'll also note that the order of the chromosomes in the file DOES matter: initially this data output had the chromosome listed as chr7, chr5, chr3, chr4 etc, and so they were visualized that way by default in circos (rather than chr1, chr2, chr3, chr4, chr5, chr6, chr7 ... ). So again, you can either re-order them in your karyotype file, like I did here, or set Circos to change the order of how they are displayed later.
M~