diff --git a/configuration/packages/configuring-controller-server.rst b/configuration/packages/configuring-controller-server.rst
index 9f186bfd57..24cccf0ca5 100644
--- a/configuration/packages/configuring-controller-server.rst
+++ b/configuration/packages/configuring-controller-server.rst
@@ -202,6 +202,17 @@ Parameters
   Description
     Topic to get instantaneous measurement of speed from.
 
+:odom_duration:
+
+  ============== ===========================
+  Type           Default
+  -------------- ---------------------------
+  double         0.3
+  ============== ===========================
+
+  Description
+    Time (s) to buffer odometry commands to estimate the robot speed.
+
 :enable_stamped_cmd_vel:
 
   ============== =============================
@@ -289,6 +300,7 @@ Example
         min_theta_velocity_threshold: 0.001
         failure_tolerance: 0.3
         odom_topic: "odom"
+        odom_duration: 0.3
         progress_checker_plugins: ["progress_checker"] # progress_checker_plugin: "progress_checker" For Humble and older
         goal_checker_plugins: ["goal_checker"] # goal_checker_plugin: "goal_checker" For Galactic and older
         controller_plugins: ["FollowPath"]
diff --git a/configuration/packages/configuring-docking-server.rst b/configuration/packages/configuring-docking-server.rst
index 80126243a8..db807f459f 100644
--- a/configuration/packages/configuring-docking-server.rst
+++ b/configuration/packages/configuring-docking-server.rst
@@ -139,6 +139,17 @@ Parameters
   Description
     The topic to use for the odometry data when rotate_to_dock is enabled.
 
+:odom_duration:
+
+  ============== ===========================
+  Type           Default
+  -------------- ---------------------------
+  double         0.3
+  ============== ===========================
+
+  Description
+    Time (s) to buffer odometry commands to estimate the robot speed.
+
 :dock_backwards:
 
   ============== ==============
@@ -652,6 +663,7 @@ Example
         base_frame: "base_link"
         fixed_frame: "odom"
         odom_topic: "odom"
+        odom_duration: 0.3
         dock_backwards: false  # Deprecated, use dock_direction in plugin
         dock_prestaging_tolerance: 0.5
         introspection_mode: "disabled"