On my doGet of the page I setup some default attributes.
    private static final CategoryFactory cf = CategoryFactory.getInstance();
public static void setupHeader(HttpServletRequest req) {
    ArrayList<String> catagories = cf.getPrimaryCategories();
    Map<String, ArrayList<String>> categoryMap = cf.getCategoryMap();
    User user = UserUtils.getUserSession(req);
    req.setAttribute("catagories", catagories);
    req.setAttribute("categoryMap", categoryMap);
    req.setAttribute("isAdmin", UserUtils.isAdmin(user));
    if (user != null) {
        req.setAttribute("orderCount", user.getOrderCount(false));
        req.setAttribute("unreadMessageCount", user.getUnreadMessageCount());
        req.setAttribute("cartTotal", user.getShoppingCart().getTotal());
    }
}
Then on my JSP page I'm trying to work with the categoryMap based on the catagories which are the keys from Map.
<c:forEach var="cata" items="${catagories}">
<li class="dropdown-submenu"><a tabindex="-1" href="#"><c:out value="${cata}" /></a>
<ul class="dropdown-menu" role="menu">
    <c:forEach var="secCategories" items="${categoryMap['cata']}">
        <c:forEach var="second" items="${secCategories}">
            <li role="presentation"><a role="menuitem"
                href="/browse?type="${fn:replace(second, ' ','+')}"><c:out
                        value="${second}" /></a></li>
        </c:forEach>
    </c:forEach>
</ul></li>
</c:forEach>
The error I get is
WARNING: Nested in javax.servlet.ServletException: javax.servlet.jsp.JspException: javax.el.PropertyNotFoundException: Could not find property [Aerial & Lifting Equipment in class java.lang.String: javax.el.PropertyNotFoundException: Could not find property [Aerial & Lifting Equipment in class java.lang.String
Where "[Aerial & Lifting Equipment" is the first key from the variable categories and set as the new variable ${cata}. As this is not working, I'm missing something on how to pass the dynamic key properly.
SOLUTION
This fixed my issue, I set the attribute types which I forgot before, and for ease of use I changed the ArrayList to a String[].  
<%@attribute name="user" required="true" type="com.entity.User"%>
<%@attribute name="catagories" required="true" type="java.lang.String[]"%>
<%@attribute name="categoryMap" required="true" type="java.util.Map"%>
<c:forEach var="cata" items="${catagories}">
<li class="dropdown-submenu"><a tabindex="-1" href="#"><c:out value="${cata}" /></a>
<ul class="dropdown-menu" role="menu">
<c:forEach var="secCategories" items="${categoryMap[cata]}">
    <c:forEach var="second" items="${secCategories}">
        <li role="presentation"><a role="menuitem"
            href="/browse?type="${fn:replace(second, ' ','+')}"><c:out
                    value="${second}" /></a></li>
    </c:forEach>
</c:forEach>
</ul></li>
</c:forEach>
 
     
     
     
    