How to code for gazebo simulation?

Hello, we are getting the stretch robot and in the mean time we would like to start writing code for it in the simulation. I have setup the simulation as per the stretch_gazebo in noetic and am able to teleop the robot. I want to know how to write code for the robot in the simulation and if there are any docs for the same.

Hi @thrnn, writing code for the Gazebo simulator boils down to writing Rospy action clients and topic subscribers. The API between the robot and the simulation is slightly different. The best way to get started would be to use the source code of the keyboard teleop node as example core for how to interact with the simulation.