There's documentation on using CloudStack with an ESXi host in the install guide, see page 88. You do need to use vCenter as well. If you'd like the documentation expanded, you might want to file a bug against the documentation as a feature request.
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Citrix supports the open source community via developer support and evangeslism. We have a number of developers and evangelists that participate actively in the open source community in Apache Cloudstack, OpenDaylight, Xen Project and XenServer. We also conduct educational activities via the Build A Cloud events held all over the world.