diff --git a/configuration/packages/configuring-amcl.rst b/configuration/packages/configuring-amcl.rst
index 13ef64e789..934b1fe94d 100644
--- a/configuration/packages/configuring-amcl.rst
+++ b/configuration/packages/configuring-amcl.rst
@@ -451,7 +451,18 @@ Parameters
   ============== =============================
 
   Description
-    Laser scan topic to subscribe to. 
+    Laser scan topic to subscribe to.
+
+:map_topic:
+
+  ============== =============================
+  Type           Default
+  -------------- -----------------------------
+  string         map
+  ============== =============================
+
+  Description
+    Map topic to subscribe to.
 
 Example
 *******
@@ -498,3 +509,4 @@ Example
         z_short: 0.05
         always_reset_initial_pose: false
         scan_topic: scan
+        map_topic: map
diff --git a/configuration/packages/costmap-plugins/static.rst b/configuration/packages/costmap-plugins/static.rst
index 265f4991a3..4cad056ebc 100644
--- a/configuration/packages/costmap-plugins/static.rst
+++ b/configuration/packages/costmap-plugins/static.rst
@@ -48,3 +48,14 @@ Static Layer Parameters
 
   Description
     TF tolerance.
+
+:``<static layer>``.map_topic:
+
+  ====== =======
+  Type   Default
+  ------ -------
+  string ""
+  ====== =======
+
+  Description
+    Map topic to subscribe to. If left empty the map topic will default to the global `map_topic` parameter in `costmap_2d_ros`.
\ No newline at end of file