Hi @Robot_Lover, that’s the right idea. You can create a ROS package with a single node that defines subscribers and publishers. By publishing to the right topics, you can give the robot commands to execute. You may find a list of these topics using the “rostopic” tool as discussed in this post.
In terms of timing, we plan to begin releasing ROS tutorials throughout the summer, with the first one coming near start of June. Additionally, we are tentatively looking at a beta release for the Stretch simulator sometime in the fall.
Glad to help and let me know if you have more questions!