# How to code for gazebo simulation?

**URL:** <https://forum.hello-robot.com/t/how-to-code-for-gazebo-simulation/977>\
**Category:** Ask\
**Created:** [May 14, 2024, 9:55am UTC](https://forum.hello-robot.com/t/how-to-code-for-gazebo-simulation/977 "2024-05-14T09:55:10Z")\
**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:** [May 14, 2024, 1:33pm UTC](https://forum.hello-robot.com/t/how-to-code-for-gazebo-simulation/977/2 "2024-05-14T13:33:41Z")

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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](https://github.com/hello-robot/stretch_ros/blob/noetic/stretch_gazebo%2Fnodes%2Fkeyboard_teleop_gazebo) as example core for how to interact with the simulation.

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