diff --git a/_sources/usage.rst.txt b/_sources/usage.rst.txt
index 52117f0ae..74caf33d9 100644
--- a/_sources/usage.rst.txt
+++ b/_sources/usage.rst.txt
@@ -127,6 +127,12 @@ The configuration of the simulation (physics simulator, controller, etc.) can be
 
 Example:
 
+.. code-block:: bash
+
+    [terminal]$ ros2 launch crazyflie_examples launch.py script:=hello_world backend:=sim
+
+which is a short-hand for the following two commands:
+
 .. code-block:: bash
 
     [terminal1]$ ros2 launch crazyflie launch.py backend:=sim
@@ -156,6 +162,12 @@ You may run the script multiple times or different scripts while leaving the ser
     [terminal1]$ ros2 launch crazyflie launch.py
     [terminal2]$ ros2 run crazyflie_examples hello_world
 
+If you only want to run a single script once, you can also use:
+
+.. code-block:: bash
+
+    [terminal]$ ros2 launch crazyflie_examples launch.py script:=hello_world
+
 Swarm Management
 ----------------
 
diff --git a/searchindex.js b/searchindex.js
index 9bff2268a..c63d86939 100644
--- a/searchindex.js
+++ b/searchindex.js
@@ -1 +1 @@
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"sphinx.domains.cpp": 9, "sphinx.domains.index": 1, "sphinx.domains.javascript": 3, "sphinx.domains.math": 2, "sphinx.domains.python": 4, "sphinx.domains.rst": 2, "sphinx.domains.std": 2, "sphinx": 60}, "alltitles": {"Frequently Asked Questions": [[0, "frequently-asked-questions"]], "How can I get help?": [[0, "how-can-i-get-help"]], "How can I report an issue?": [[0, "how-can-i-report-an-issue"]], "How do Crazyswarm2 and Crazyswarm differ?": [[0, "how-do-crazyswarm2-and-crazyswarm-differ"]], "How is Crazyswarm2 different from Bitcraze\u2019s cflib?": [[0, "how-is-crazyswarm2-different-from-bitcraze-s-cflib"]], "How To": [[1, "how-to"]], "Tracking Non-Robotic Objects": [[1, "tracking-non-robotic-objects"]], "Debugging": [[1, "debugging"]], "Usage from the command line": [[1, "usage-from-the-command-line"]], "Enabling Logblocks at runtime": [[1, "enabling-logblocks-at-runtime"]], "Run Tests Locally": [[1, "run-tests-locally"]], "Collision Avoidance": [[1, "collision-avoidance"]], "Generate Trajectories": [[1, "generate-trajectories"]], "Crazyswarm2: A ROS 2 testbed for Aerial Robot Teams": [[2, "crazyswarm2-a-ros-2-testbed-for-aerial-robot-teams"]], "Contents": [[2, "contents"]], "Installation": [[3, "installation"]], "First Installation": [[3, "first-installation"]], "Updating": [[3, "updating"]], "Overview": [[4, "overview"]], "Explanation per package": [[4, "explanation-per-package"]], "Crazyflie server": [[4, "crazyflie-server"]], "Simulation": [[4, "simulation"], [6, "simulation"]], "Support functionality with backends": [[4, "support-functionality-with-backends"]], "ROS 2 Tutorials": [[5, "ros-2-tutorials"]], "Teleoperation keyboard": [[5, "teleoperation-keyboard"]], "Vizualization with RVIZ2": [[5, "vizualization-with-rviz2"]], "Mapping with simple mapper": [[5, "mapping-with-simple-mapper"]], "Mapping with the SLAM toolbox": [[5, "mapping-with-the-slam-toolbox"]], "Preperation": [[5, "preperation"], [5, "id5"]], "Connecting with the Crazyflie": [[5, "connecting-with-the-crazyflie"]], "Flying and mapping": [[5, "flying-and-mapping"]], "Connecting with Nav2 Bringup": [[5, "connecting-with-nav2-bringup"]], "Looking at the Launch file": [[5, "looking-at-the-launch-file"]], "Navigate the Crazyflie": [[5, "navigate-the-crazyflie"]], "Usage": [[6, "usage"]], "Configuration": [[6, "configuration"]], "crazyflies.yaml": [[6, "crazyflies-yaml"]], "Physical Experiments": [[6, "physical-experiments"]], "Teleoperation controller": [[6, "teleoperation-controller"]], "Python scripts": [[6, "python-scripts"]], "Swarm Management": [[6, "swarm-management"]]}, "indexentries": {}})
\ No newline at end of file
diff --git a/usage.html b/usage.html
index 50f0e953e..a2c362d56 100644
--- a/usage.html
+++ b/usage.html
@@ -203,6 +203,10 @@ <h2>Simulation<a class="headerlink" href="#simulation" title="Link to this headi
 The simulation uses the firmware code as software-in-the-loop, and can optionally include the robot dynamics.
 The configuration of the simulation (physics simulator, controller, etc.) can be changed in server.yaml.</p>
 <p>Example:</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="o">[</span>terminal<span class="o">]</span>$<span class="w"> </span>ros2<span class="w"> </span>launch<span class="w"> </span>crazyflie_examples<span class="w"> </span>launch.py<span class="w"> </span>script:<span class="o">=</span>hello_world<span class="w"> </span>backend:<span class="o">=</span>sim
+</pre></div>
+</div>
+<p>which is a short-hand for the following two commands:</p>
 <div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="o">[</span>terminal1<span class="o">]</span>$<span class="w"> </span>ros2<span class="w"> </span>launch<span class="w"> </span>crazyflie<span class="w"> </span>launch.py<span class="w"> </span>backend:<span class="o">=</span>sim
 <span class="o">[</span>terminal2<span class="o">]</span>$<span class="w"> </span>ros2<span class="w"> </span>run<span class="w"> </span>crazyflie_examples<span class="w"> </span>hello_world<span class="w"> </span>--ros-args<span class="w"> </span>-p<span class="w"> </span>use_sim_time:<span class="o">=</span>True
 </pre></div>
@@ -225,6 +229,10 @@ <h3>Python scripts<a class="headerlink" href="#python-scripts" title="Link to th
 <span class="o">[</span>terminal2<span class="o">]</span>$<span class="w"> </span>ros2<span class="w"> </span>run<span class="w"> </span>crazyflie_examples<span class="w"> </span>hello_world
 </pre></div>
 </div>
+<p>If you only want to run a single script once, you can also use:</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="o">[</span>terminal<span class="o">]</span>$<span class="w"> </span>ros2<span class="w"> </span>launch<span class="w"> </span>crazyflie_examples<span class="w"> </span>launch.py<span class="w"> </span>script:<span class="o">=</span>hello_world
+</pre></div>
+</div>
 </section>
 </section>
 <section id="swarm-management">