diff --git a/doc/index.rst b/doc/index.rst
index 1823ed6..99e560a 100644
--- a/doc/index.rst
+++ b/doc/index.rst
@@ -209,6 +209,20 @@ The *gazebo_ros2_control* ``<plugin>`` tag also has the following optional child
 * ``<hold_joints>``: if set to true (default), it will hold the joints' position if their interface was not claimed, e.g., the controller hasn't been activated yet.
 * ``<controller_manager_name>``: Set controller manager name (default: ``controller_manager``)
 
+Additionally, one can add a section for namespaces and remapping rules, which will be forwarded to the controller_manager and loaded controllers. Add the following <ros> section inside the <gazebo> tag:
+
+.. code-block:: xml
+
+  <gazebo>
+      <plugin filename="libgazebo_ros2_control.so" name="gazebo_ros2_control">
+      ...
+      <ros>
+        <namespace>my_namespace</namespace>
+        <remapping>/robot_description:=/robot_description_ful</remapping>
+      </ros>
+      </plugin>
+  </gazebo>
+
 Default gazebo_ros2_control Behavior
 -----------------------------------------------------------