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diff --git a/2021summerOfCode/Summer_2021_Student_Program.html b/2021summerOfCode/Summer_2021_Student_Program.html
@@ -1046,6 +1046,9 @@
 <li class="toctree-l3"><a class="reference internal" href="../migration/Jazzy.html#option-to-limit-velocity-through-dwb-trajectory">Option to limit velocity through DWB trajectory</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../migration/Jazzy.html#option-to-disable-zero-velocity-publishing-on-goal-exit">Option to disable zero velocity publishing on goal exit</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../migration/Jazzy.html#added-optional-collision-checking-for-the-docking-server">Added optional collision checking for the Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../migration/Jazzy.html#revamped-multirobot-bringup-and-config-files-to-use-namespaces">Revamped multirobot bringup and config files to use namespaces</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../migration/Jazzy.html#removed-global-map-topic-from-costmap-node">Removed global map_topic from Costmap node</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../migration/Jazzy.html#simplified-costmap2dros-constructors">Simplified Costmap2DROS constructors</a></li>
 </ul>
 </li>
 </ul>

diff --git a/2021summerOfCode/projects/assisted_teleop.html b/2021summerOfCode/projects/assisted_teleop.html
@@ -1046,6 +1046,9 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#option-to-limit-velocity-through-dwb-trajectory">Option to limit velocity through DWB trajectory</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#option-to-disable-zero-velocity-publishing-on-goal-exit">Option to disable zero velocity publishing on goal exit</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#added-optional-collision-checking-for-the-docking-server">Added optional collision checking for the Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#revamped-multirobot-bringup-and-config-files-to-use-namespaces">Revamped multirobot bringup and config files to use namespaces</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#removed-global-map-topic-from-costmap-node">Removed global map_topic from Costmap node</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#simplified-costmap2dros-constructors">Simplified Costmap2DROS constructors</a></li>
 </ul>
 </li>
 </ul>

diff --git a/2021summerOfCode/projects/create_configuration_assistant.html b/2021summerOfCode/projects/create_configuration_assistant.html
@@ -1046,6 +1046,9 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#option-to-limit-velocity-through-dwb-trajectory">Option to limit velocity through DWB trajectory</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#option-to-disable-zero-velocity-publishing-on-goal-exit">Option to disable zero velocity publishing on goal exit</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#added-optional-collision-checking-for-the-docking-server">Added optional collision checking for the Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#revamped-multirobot-bringup-and-config-files-to-use-namespaces">Revamped multirobot bringup and config files to use namespaces</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#removed-global-map-topic-from-costmap-node">Removed global map_topic from Costmap node</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#simplified-costmap2dros-constructors">Simplified Costmap2DROS constructors</a></li>
 </ul>
 </li>
 </ul>

diff --git a/2021summerOfCode/projects/create_plugins.html b/2021summerOfCode/projects/create_plugins.html
@@ -1046,6 +1046,9 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#option-to-limit-velocity-through-dwb-trajectory">Option to limit velocity through DWB trajectory</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#option-to-disable-zero-velocity-publishing-on-goal-exit">Option to disable zero velocity publishing on goal exit</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#added-optional-collision-checking-for-the-docking-server">Added optional collision checking for the Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#revamped-multirobot-bringup-and-config-files-to-use-namespaces">Revamped multirobot bringup and config files to use namespaces</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#removed-global-map-topic-from-costmap-node">Removed global map_topic from Costmap node</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#simplified-costmap2dros-constructors">Simplified Costmap2DROS constructors</a></li>
 </ul>
 </li>
 </ul>

diff --git a/2021summerOfCode/projects/dynamic.html b/2021summerOfCode/projects/dynamic.html
@@ -1046,6 +1046,9 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#option-to-limit-velocity-through-dwb-trajectory">Option to limit velocity through DWB trajectory</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#option-to-disable-zero-velocity-publishing-on-goal-exit">Option to disable zero velocity publishing on goal exit</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#added-optional-collision-checking-for-the-docking-server">Added optional collision checking for the Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#revamped-multirobot-bringup-and-config-files-to-use-namespaces">Revamped multirobot bringup and config files to use namespaces</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#removed-global-map-topic-from-costmap-node">Removed global map_topic from Costmap node</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#simplified-costmap2dros-constructors">Simplified Costmap2DROS constructors</a></li>
 </ul>
 </li>
 </ul>

diff --git a/2021summerOfCode/projects/grid_maps.html b/2021summerOfCode/projects/grid_maps.html
@@ -1046,6 +1046,9 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#option-to-limit-velocity-through-dwb-trajectory">Option to limit velocity through DWB trajectory</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#option-to-disable-zero-velocity-publishing-on-goal-exit">Option to disable zero velocity publishing on goal exit</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#added-optional-collision-checking-for-the-docking-server">Added optional collision checking for the Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#revamped-multirobot-bringup-and-config-files-to-use-namespaces">Revamped multirobot bringup and config files to use namespaces</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#removed-global-map-topic-from-costmap-node">Removed global map_topic from Costmap node</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#simplified-costmap2dros-constructors">Simplified Costmap2DROS constructors</a></li>
 </ul>
 </li>
 </ul>

diff --git a/2021summerOfCode/projects/localization.html b/2021summerOfCode/projects/localization.html
@@ -1046,6 +1046,9 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#option-to-limit-velocity-through-dwb-trajectory">Option to limit velocity through DWB trajectory</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#option-to-disable-zero-velocity-publishing-on-goal-exit">Option to disable zero velocity publishing on goal exit</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#added-optional-collision-checking-for-the-docking-server">Added optional collision checking for the Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#revamped-multirobot-bringup-and-config-files-to-use-namespaces">Revamped multirobot bringup and config files to use namespaces</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#removed-global-map-topic-from-costmap-node">Removed global map_topic from Costmap node</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#simplified-costmap2dros-constructors">Simplified Costmap2DROS constructors</a></li>
 </ul>
 </li>
 </ul>

diff --git a/2021summerOfCode/projects/multithreading.html b/2021summerOfCode/projects/multithreading.html
@@ -1046,6 +1046,9 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#option-to-limit-velocity-through-dwb-trajectory">Option to limit velocity through DWB trajectory</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#option-to-disable-zero-velocity-publishing-on-goal-exit">Option to disable zero velocity publishing on goal exit</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#added-optional-collision-checking-for-the-docking-server">Added optional collision checking for the Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#revamped-multirobot-bringup-and-config-files-to-use-namespaces">Revamped multirobot bringup and config files to use namespaces</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#removed-global-map-topic-from-costmap-node">Removed global map_topic from Costmap node</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#simplified-costmap2dros-constructors">Simplified Costmap2DROS constructors</a></li>
 </ul>
 </li>
 </ul>

diff --git a/2021summerOfCode/projects/navigation_rebranding.html b/2021summerOfCode/projects/navigation_rebranding.html
@@ -1046,6 +1046,9 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#option-to-limit-velocity-through-dwb-trajectory">Option to limit velocity through DWB trajectory</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#option-to-disable-zero-velocity-publishing-on-goal-exit">Option to disable zero velocity publishing on goal exit</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#added-optional-collision-checking-for-the-docking-server">Added optional collision checking for the Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#revamped-multirobot-bringup-and-config-files-to-use-namespaces">Revamped multirobot bringup and config files to use namespaces</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#removed-global-map-topic-from-costmap-node">Removed global map_topic from Costmap node</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#simplified-costmap2dros-constructors">Simplified Costmap2DROS constructors</a></li>
 </ul>
 </li>
 </ul>

diff --git a/2021summerOfCode/projects/safety_node.html b/2021summerOfCode/projects/safety_node.html
@@ -1046,6 +1046,9 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#option-to-limit-velocity-through-dwb-trajectory">Option to limit velocity through DWB trajectory</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#option-to-disable-zero-velocity-publishing-on-goal-exit">Option to disable zero velocity publishing on goal exit</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#added-optional-collision-checking-for-the-docking-server">Added optional collision checking for the Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#revamped-multirobot-bringup-and-config-files-to-use-namespaces">Revamped multirobot bringup and config files to use namespaces</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#removed-global-map-topic-from-costmap-node">Removed global map_topic from Costmap node</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#simplified-costmap2dros-constructors">Simplified Costmap2DROS constructors</a></li>
 </ul>
 </li>
 </ul>

diff --git a/2021summerOfCode/projects/semantics.html b/2021summerOfCode/projects/semantics.html
@@ -1046,6 +1046,9 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#option-to-limit-velocity-through-dwb-trajectory">Option to limit velocity through DWB trajectory</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#option-to-disable-zero-velocity-publishing-on-goal-exit">Option to disable zero velocity publishing on goal exit</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#added-optional-collision-checking-for-the-docking-server">Added optional collision checking for the Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#revamped-multirobot-bringup-and-config-files-to-use-namespaces">Revamped multirobot bringup and config files to use namespaces</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#removed-global-map-topic-from-costmap-node">Removed global map_topic from Costmap node</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#simplified-costmap2dros-constructors">Simplified Costmap2DROS constructors</a></li>
 </ul>
 </li>
 </ul>

diff --git a/2021summerOfCode/projects/spinners.html b/2021summerOfCode/projects/spinners.html
@@ -1046,6 +1046,9 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#option-to-limit-velocity-through-dwb-trajectory">Option to limit velocity through DWB trajectory</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#option-to-disable-zero-velocity-publishing-on-goal-exit">Option to disable zero velocity publishing on goal exit</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#added-optional-collision-checking-for-the-docking-server">Added optional collision checking for the Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#revamped-multirobot-bringup-and-config-files-to-use-namespaces">Revamped multirobot bringup and config files to use namespaces</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#removed-global-map-topic-from-costmap-node">Removed global map_topic from Costmap node</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#simplified-costmap2dros-constructors">Simplified Costmap2DROS constructors</a></li>
 </ul>
 </li>
 </ul>

diff --git a/2021summerOfCode/projects/testing.html b/2021summerOfCode/projects/testing.html
@@ -1046,6 +1046,9 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#option-to-limit-velocity-through-dwb-trajectory">Option to limit velocity through DWB trajectory</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#option-to-disable-zero-velocity-publishing-on-goal-exit">Option to disable zero velocity publishing on goal exit</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#added-optional-collision-checking-for-the-docking-server">Added optional collision checking for the Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#revamped-multirobot-bringup-and-config-files-to-use-namespaces">Revamped multirobot bringup and config files to use namespaces</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#removed-global-map-topic-from-costmap-node">Removed global map_topic from Costmap node</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#simplified-costmap2dros-constructors">Simplified Costmap2DROS constructors</a></li>
 </ul>
 </li>
 </ul>

diff --git a/2021summerOfCode/projects/twist_n_config.html b/2021summerOfCode/projects/twist_n_config.html
@@ -1046,6 +1046,9 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#option-to-limit-velocity-through-dwb-trajectory">Option to limit velocity through DWB trajectory</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#option-to-disable-zero-velocity-publishing-on-goal-exit">Option to disable zero velocity publishing on goal exit</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#added-optional-collision-checking-for-the-docking-server">Added optional collision checking for the Docking Server</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#revamped-multirobot-bringup-and-config-files-to-use-namespaces">Revamped multirobot bringup and config files to use namespaces</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#removed-global-map-topic-from-costmap-node">Removed global map_topic from Costmap node</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#simplified-costmap2dros-constructors">Simplified Costmap2DROS constructors</a></li>
 </ul>
 </li>
 </ul>

diff --git a/_sources/configuration/packages/configuring-costmaps.rst.txt b/_sources/configuration/packages/configuring-costmaps.rst.txt
@@ -90,17 +90,6 @@ Costmap2D ROS Parameters
   Description
     Minimum cost of an occupancy grid map to be considered a lethal obstacle.
 
-:map_topic:
-
-  ============== =======
-  Type           Default
-  -------------- -------
-  string         "map"   
-  ============== =======
-
-  Description
-    Topic of map from map_server or SLAM.
-
 :map_vis_z:
 
   ============== =======

diff --git a/_sources/configuration/packages/costmap-plugins/obstacle.rst.txt b/_sources/configuration/packages/costmap-plugins/obstacle.rst.txt
@@ -86,6 +86,14 @@ This costmap layer implements a plugin that uses 2D raycasting for 2D lidars, de
   Description
     Topic of data.
 
+  Relative topics will be relative to the node's parent namespace.
+  For example, if you specify `topic: scan` in the `obstacle_layer` of a `local_costmap` and you launch your bringup with a `tb4` namespace:
+
+  * User chosen namespace is `tb4`.
+  * User chosen topic is `scan`.
+  * Topic will be remapped to `/tb4/scan` without `local_costmap`.
+  * Use global topic `/scan` if you do not wish the node namespace to apply.
+
 :``<obstacle layer>``. ``<data source>``.sensor_frame:
 
   ====== =======

diff --git a/_sources/configuration/packages/costmap-plugins/range.rst.txt b/_sources/configuration/packages/costmap-plugins/range.rst.txt
@@ -29,6 +29,14 @@ This costmap layer implements a plugin that processes sonar, IR, or other 1-D se
   Description
     Range topics to subscribe to.
 
+  Relative topics will be relative to the node's parent namespace.
+  For example, if you specify `topics: [range1, /range2]` in the `range_layer` of a `local_costmap` and you launch your bringup with a `tb4` namespace:
+
+  * User chosen namespace is `tb4`.
+  * User chosen topics are [`range1`, `/range2`].
+  * Topic will be remapped to `/tb4/range1`, without `local_costmap`, and `/range2`.
+  * Use global topics such as `/range2` if you do not wish the node namespace to apply.
+
 :``<range layer>``.phi:
 
   ====== =======

diff --git a/_sources/configuration/packages/costmap-plugins/static.rst.txt b/_sources/configuration/packages/costmap-plugins/static.rst.txt
@@ -67,8 +67,16 @@ This implements a costmap layer taking in a map from either SLAM or ``map_server
   ====== =======
   Type   Default
   ------ -------
-  string ""
+  string "map"
   ====== =======
 
   Description
-    Map topic to subscribe to. If left empty the map topic will default to the global `map_topic` parameter in `costmap_2d_ros`.
+    Map topic to subscribe to.
+
+  Relative topics will be relative to the node's parent namespace.
+  For example, if you specify `map_topic: map` in the `static_layer` of a `global_costmap` and you launch your bringup with a `tb4` namespace:
+
+  * User chosen namespace is `tb4`.
+  * User chosen topic is `map`.
+  * Topic will be remapped to `/tb4/map` without `global_costmap`.
+  * Use global topic `/map` if you do not wish the node namespace to apply.
diff --git a/_sources/configuration/packages/costmap-plugins/voxel.rst.txt b/_sources/configuration/packages/costmap-plugins/voxel.rst.txt
@@ -151,6 +151,14 @@ This costmap layer implements a plugin that uses 3D raycasting for depth, 3D, or
   Description
     Topic of data.
 
+  Relative topics will be relative to the node's parent namespace.
+  For example, if you specify `topic: scan` in the `voxel_layer` of a `local_costmap` and you launch your bringup with a `tb4` namespace:
+
+  * User chosen namespace is `tb4`.
+  * User chosen topic is `scan`.
+  * Topic will be remapped to `/tb4/scan` without `local_costmap`.
+  * Use global topic `/scan` if you do not wish the node namespace to apply.
+
 :``<voxel layer>``. ``<data source>``.sensor_frame:
 
   ====== =======