diff --git a/ros2controlcli/doc/userdoc.rst b/ros2controlcli/doc/userdoc.rst
index 9b9feecf26..d604a26fe8 100644
--- a/ros2controlcli/doc/userdoc.rst
+++ b/ros2controlcli/doc/userdoc.rst
@@ -268,4 +268,14 @@ view_controller_chains
     $ ros2 control view_controller_chains -h
     usage: ros2 view_controller_chains
 
-    Creates a graphviz image from loaded controllers.
+    Generates a diagram of the loaded chained controllers into /tmp/controller_diagram.gv.pdf
+
+    options:
+      -h, --help            show this help message and exit
+      --spin-time SPIN_TIME
+                            Spin time in seconds to wait for discovery (only applies when not using an already running daemon)
+      -s, --use-sim-time    Enable ROS simulation time
+      -c CONTROLLER_MANAGER, --controller-manager CONTROLLER_MANAGER
+                            Name of the controller manager ROS node
+      --include-hidden-nodes
+                            Consider hidden nodes as well
diff --git a/ros2controlcli/ros2controlcli/verb/view_controller_chains.py b/ros2controlcli/ros2controlcli/verb/view_controller_chains.py
index 891ee7c088..e175cf33fe 100644
--- a/ros2controlcli/ros2controlcli/verb/view_controller_chains.py
+++ b/ros2controlcli/ros2controlcli/verb/view_controller_chains.py
@@ -147,7 +147,7 @@ def parse_response(list_controllers_response, list_hardware_response, visualize=
 
 
 class ViewControllerChainsVerb(VerbExtension):
-    """Generates a diagram of the loaded chained controllers."""
+    """Generates a diagram of the loaded chained controllers into /tmp/controller_diagram.gv.pdf."""
 
     def add_arguments(self, parser, cli_name):
         add_arguments(parser)