diff --git a/docs/index.rst b/docs/index.rst
index 15738919..409cb4de 100644
--- a/docs/index.rst
+++ b/docs/index.rst
@@ -17,6 +17,7 @@ MVSim: a lightweight MultiVehicle Simulator
world
teleoperation
mvsim-cli
+ mvsim_node
physics
extending
C++ API
diff --git a/docs/mvsim-cli.rst b/docs/mvsim-cli.rst
index ec38e026..dd72e44a 100644
--- a/docs/mvsim-cli.rst
+++ b/docs/mvsim-cli.rst
@@ -3,12 +3,104 @@ mvsim cli
The command-line interface (cli) application ``mvsim`` is the main
entry-point to run, query, or modify a running simulation from a
-command line terminal.
+command line terminal. It can be used to launch standalone simulations (without ROS),
+or to modify, manipulate, or query a running simulation within a ROS system.
.. note::
The ROS node is a different cli application, named ``mvsim_node`` instead.
+ The ROS package ``mvsim`` ships **both** executables: ``mvsim`` and ``mvsim_node``.
+ See :ref:`mvsim ROS node`.
+Invoking ``mvsim``
+------------------------
+Make sure you have compiled or installed MVSim, and that the executable named ``mvsim`` is
+in your ``PATH``. If you installed it as a ROS package, activating the ROS environment (``setup.bash``) is enough.
+If this command works, you can go on with the next commands:
+
+.. code-block:: console
+
+ $ mvsim --version
+
+You can get a list of available commands with:
+
+.. code-block:: console
+
+ $ mvsim --help
+ mvsim v0.7.2: A lightweight multivehicle simulation environment.
+
+ Available commands:
+ mvsim launch Start a comm. server and simulates a world.
+ mvsim server Start a standalone communication server.
+ mvsim node List connected nodes, etc.
+ mvsim topic Inspect, publish, etc. topics.
+ mvsim --version Shows program version.
+ mvsim --help Shows this information.
+
+ Or use `mvsim --help` for further options
+
+
+Command ``mvsim launch``
+--------------------------
+
+.. code-block:: console
+
+ $ mvsim launch --help
+ Usage: mvsim launch [options]
+
+ Available options:
+ --headless Launch without GUI (e.g. suitable for dockerized envs.)
+ --full-profiler Enable full profiling (generates file with all timings)
+ --realtime-factor <1.0> Run slower (<1) or faster (>1) than real time if !=1.0
+ -v, --verbosity Set verbosity level: DEBUG, INFO (default), WARN, ERROR
+
+
+Write me!
+
+
+Command ``mvsim server``
+--------------------------
+
+.. code-block:: console
+
+ $ mvsim server --help
+ Usage: mvsim server
+
+ Available options:
+ -p 23700, --port 23700 Listen on given TCP port.
+ -v, --verbosity Set verbosity level: DEBUG, INFO (default), WARN, ERROR
+
+
+Write me!
+
+
+Command ``mvsim node``
+--------------------------
+
+.. code-block:: console
+
+ $ mvsim node --help
+ Usage:
+
+ mvsim node --help Show this help
+ mvsim node list List all nodes connected to the server.
Write me!
+
+Command ``mvsim topic``
+--------------------------
+
+.. code-block:: console
+
+ $ mvsim topic --help
+ Usage:
+
+ mvsim topic --help Show this help
+ mvsim topic list [--details] List all advertised topics in the server
+ mvsim topic echo Subscribe and print a topic
+ mvsim topic hz Estimate topic publication rate (in Hz)
+
+Write me!
+
+
diff --git a/docs/mvsim_node.rst b/docs/mvsim_node.rst
new file mode 100644
index 00000000..f66be782
--- /dev/null
+++ b/docs/mvsim_node.rst
@@ -0,0 +1,15 @@
+mvsim ROS node
+===================
+
+This page describes the ROS 1 and ROS 2 node for MVSim, which
+is an executable named `mvsim_node` that is shipped with the
+ROS package named `mvsim`.
+
+.. note::
+ You can also use the cli application ``mvsim`` if you want to test or run your world without launching a whole ROS system.
+ See :ref:`mvsim cli`.
+
+
+
+Write me!
+