From 01d008c3b987bafb541a6c2738278ee1cf800523 Mon Sep 17 00:00:00 2001
From: Christoph Froehlich <christoph.froehlich@ait.ac.at>
Date: Sat, 6 Jul 2024 11:51:38 +0000
Subject: [PATCH] Update parameters section

---
 doc/index.rst | 17 ++++++++++++++++-
 1 file changed, 16 insertions(+), 1 deletion(-)

diff --git a/doc/index.rst b/doc/index.rst
index 09d9254..5a00fba 100644
--- a/doc/index.rst
+++ b/doc/index.rst
@@ -212,7 +212,22 @@ The *gazebo_ros2_control* ``<plugin>`` tag also has the following optional child
 
 * ``<robot_param>``: The location of the ``robot_description`` (URDF) on the parameter server, defaults to ``robot_description``
 * ``<robot_param_node>``: Name of the node where the ``robot_param`` is located, defaults to ``robot_state_publisher``
-* ``<parameters>``: YAML file with the configuration of the controllers
+* ``<parameters>``: A YAML file with the configuration of the controllers. This element can be given multiple times to load multiple files.
+* ``<controller_manager_name>``: Set controller manager name (default: ``controller_manager``)
+
+Additionally, one can specify a namespace and remapping rules, which will be forwarded to the controller_manager and loaded controllers. Add the following ``<ros>`` section:
+
+.. code-block:: xml
+
+  <gazebo>
+    <plugin filename="libgazebo_ros2_control.so" name="gazebo_ros2_control">
+      ...
+      <ros>
+        <namespace>my_namespace</namespace>
+        <remapping>/robot_description:=/robot_description_full</remapping>
+      </ros>
+    </plugin>
+  </gazebo>
 
 Default gazebo_ros2_control Behavior
 -----------------------------------------------------------