diff --git a/commander_api/index.rst b/commander_api/index.rst
index a7ecbb95b7..6028f6886c 100644
--- a/commander_api/index.rst
+++ b/commander_api/index.rst
@@ -147,6 +147,23 @@ This is a Python3 API for costmap 2d messages from the stack. It provides the ba
 +---------------------------------------+----------------------------------------------------------------------------+
 | getCostmapTimestamp()                 | Get costmap timestamp.                                                     |
 +---------------------------------------+----------------------------------------------------------------------------+
+| getCostXY(mx, my)                     | Get the cost (``np.uint8``) of a cell in the costmap using mx (``int``)    |
+|                                       | , my (``int``) of Map Coordinate.                                          |
++---------------------------------------+----------------------------------------------------------------------------+
+| getCostIdx(index)                     | Get the cost (``np.uint8``) of a cell in the costmap using index (``int``) |
++---------------------------------------+----------------------------------------------------------------------------+
+| setCost(mx, my, cost)                 | Set the cost (``np.uint8``) of a cell in the costmap using mx (``int``)    |
+|                                       | , my (``int``) of Map Coordinate.                                          |
++---------------------------------------+----------------------------------------------------------------------------+
+| mapToWorld(mx, my)                    | Get the wx (``float``) [m], wy (``float``) [m] of world coordinate XY using|
+|                                       | mx (``int``), my (``int``) of map coordinate XY                            |
++---------------------------------------+----------------------------------------------------------------------------+
+| worldToMap(wx, wy)                    | Get the mx (``int``), my (``int``) of map coordinate XY using              |
+|                                       | wx (``float``) [m], wy (``float``) [m] of world coordinate XY              |
++---------------------------------------+----------------------------------------------------------------------------+
+| getIndex(mx, my)                      | Get the index (``int``) of the cell using mx (``int``), my (``int``) of    |
+|                                       | map coordinate XY                                                          |
++---------------------------------------+----------------------------------------------------------------------------+
 
 Examples and Demos
 ******************