Feature request

Feature description

The AMCL node should have a parameter map_topic to configure the map topic similar to the parameter for the costmap layer which would allow for easy configuration of the node's map input without using remapping.

Implementation considerations

Documentation would need to be added in the following locations:
https://navigation.ros.org/configuration/packages/configuring-amcl.html#parameters
https://github.com/ros-planning/navigation2/blob/master/doc/parameters/param_list.md