How to make an interactive simulation where the user controls a robot with the keyboard and sees a camera on a window?

Or in other words, how to make a game with Gazebo? Which components should I look into? The following examples seemed interesting: - Razer Hydra: http://gazebosim.org/tutorials?tut=hydra&cat=user_input But I don't have that controller to test. - GUI overlay: http://gazebosim.org/tutorials?tut=gui_overlay&cat=user_input Someone has already made an OpenAI Gym link at: https://github.com/erlerobot/gym-gazebo but I don't know if it interactive.