# Error when running StetchBodyNode from stretch\_driver

**URL:** https://forum.hello-robot.com/t/error-when-running-stetchbodynode-from-stretch-driver/148
**Category:** Ask
**Created:** [April 6, 2021, 3:11am UTC](https://forum.hello-robot.com/t/error-when-running-stetchbodynode-from-stretch-driver/148 "2021-04-06T03:11:18Z")
**Posts on this page:** 1
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### Author: ![bshah](https://yyz2.discourse-cdn.com/flex030/user_avatar/forum.hello-robot.com/bshah/32/55_2.png) [@bshah](https://forum.hello-robot.com/u/bshah)
#### Post date: [April 9, 2021, 6:56am UTC](https://forum.hello-robot.com/t/error-when-running-stetchbodynode-from-stretch-driver/148/4 "2021-04-09T06:56:08Z")

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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](https://forum.hello-robot.com/t/basic-ros-code-for-the-stretch-robot/143/5).

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!

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