Index: src/costmap_2d_ros.cpp
===================================================================
--- src/costmap_2d_ros.cpp	(revision 29409)
+++ src/costmap_2d_ros.cpp	(working copy)
@@ -188,11 +188,13 @@
     private_nh.param("rolling_window", rolling_window_, false);
 
     double map_width_meters, map_height_meters;
+	std::string map_topic;
     private_nh.param("width", map_width_meters, 10.0);
     private_nh.param("height", map_height_meters, 10.0);
     private_nh.param("resolution", map_resolution, 0.05);
     private_nh.param("origin_x", map_origin_x, 0.0);
     private_nh.param("origin_y", map_origin_y, 0.0);
+	private_nh.param("map_topic", map_topic, std::string("map"));
     map_width = (unsigned int)(map_width_meters / map_resolution);
     map_height = (unsigned int)(map_height_meters / map_resolution);
 
@@ -201,7 +203,7 @@
       ros::NodeHandle g_nh;
 
       ROS_INFO("Requesting the map...\n");
-      map_sub_ = g_nh.subscribe("map", 1, &Costmap2DROS::incomingMap, this);
+      map_sub_ = g_nh.subscribe(map_topic.c_str(), 1, &Costmap2DROS::incomingMap, this);
 
       ros::Rate r(1.0);
       while(!map_initialized_ && ros::ok()){