diff --git a/configuration/packages/configuring-controller-server.rst b/configuration/packages/configuring-controller-server.rst
index 24cccf0ca..bab4cedb1 100644
--- a/configuration/packages/configuring-controller-server.rst
+++ b/configuration/packages/configuring-controller-server.rst
@@ -259,6 +259,17 @@ Parameters
   Description
     Whether to allow QoS profiles to be overwritten with parameterized values.
 
+:search_window:
+
+  ============== =============================
+  Type           Default
+  -------------- -----------------------------
+  double           2.0
+  ============== =============================
+
+  Description
+    How far (in meters) along the path the searching algorithm will look for the closest point.
+
 Provided Plugins
 ****************
  The plugins listed below are inside the ``nav2_controller`` namespace.