diff --git a/cmd/rc-simulator/rc-simultator.go b/cmd/rc-simulator/rc-simultator.go
index 095afb4..2e5a956 100644
--- a/cmd/rc-simulator/rc-simultator.go
+++ b/cmd/rc-simulator/rc-simultator.go
@@ -3,7 +3,11 @@ package main
 import (
 	"flag"
 	"github.com/cyrilix/robocar-base/cli"
+	events2 "github.com/cyrilix/robocar-protobuf/go/events"
+	"github.com/cyrilix/robocar-simulator/pkg/events"
 	"github.com/cyrilix/robocar-simulator/pkg/gateway"
+	mqtt "github.com/eclipse/paho.mqtt.golang"
+	"github.com/golang/protobuf/proto"
 	log "github.com/sirupsen/logrus"
 	"os"
 )
@@ -11,7 +15,8 @@ import (
 const DefaultClientId = "robocar-simulator"
 
 func main() {
-	var mqttBroker, username, password, clientId, topicFrame string
+	var mqttBroker, username, password, clientId, topicFrame, topicSteering, topicThrottle string
+	var topicCtrlSteering, topicCtrlThrottle string
 	var address string
 	var debug bool
 
@@ -20,7 +25,11 @@ func main() {
 
 	cli.InitMqttFlags(DefaultClientId, &mqttBroker, &username, &password, &clientId, &mqttQos, &mqttRetain)
 
-	flag.StringVar(&topicFrame, "events-topic-frame", os.Getenv("MQTT_TOPIC"), "Mqtt topic to events gateway frames, use MQTT_TOPIC_FRAME if args not set")
+	flag.StringVar(&topicFrame, "events-topic-frame", os.Getenv("MQTT_TOPIC_FRAME"), "Mqtt topic to events gateway frames, use MQTT_TOPIC_FRAME if args not set")
+	flag.StringVar(&topicFrame, "events-topic-steering", os.Getenv("MQTT_TOPIC_STEERING"), "Mqtt topic to events gateway steering, use MQTT_TOPIC_STEERING if args not set")
+	flag.StringVar(&topicFrame, "events-topic-throttle", os.Getenv("MQTT_TOPIC_THROTTLE"), "Mqtt topic to events gateway throttle, use MQTT_TOPIC_THROTTLE if args not set")
+	flag.StringVar(&topicFrame, "topic-steering-ctrl", os.Getenv("MQTT_TOPIC_STEERING_CTRL"), "Mqtt topic to send steering instructions, use MQTT_TOPIC_STEERING_CTRL if args not set")
+	flag.StringVar(&topicFrame, "topic-throttle-ctrl", os.Getenv("MQTT_TOPIC_THROTTLE_CTRL"), "Mqtt topic to send throttle instructions, use MQTT_TOPIC_THROTTLE_CTRL if args not set")
 	flag.StringVar(&address, "simulator-address", "127.0.0.1:9091", "Simulator address")
 	flag.BoolVar(&debug, "debug", false, "Debug logs")
 
@@ -39,13 +48,56 @@ func main() {
 	}
 	defer client.Disconnect(10)
 
-	c := gateway.New(address)
-	defer c.Stop()
+	gtw := gateway.New(address)
+	defer gtw.Stop()
 
-	cli.HandleExit(c)
+	msgPub := events.NewMsgPublisher(
+		gtw,
+		events.NewMqttPublisher(client),
+		topicFrame,
+		topicSteering,
+		topicThrottle,
+	)
+	defer msgPub.Stop()
 
-	err = c.Start()
+	cli.HandleExit(gtw)
+
+	err = gtw.Start()
 	if err != nil {
 		log.Fatalf("unable to start service: %v", err)
 	}
+	msgPub.Start()
+
+	if topicCtrlSteering != "" {
+		log.Infof("configure mqtt route on steering command")
+		client.AddRoute(topicCtrlSteering, func(client mqtt.Client, message mqtt.Message) {
+			onSteeringCommand(gtw, message)
+		})
+	}
+	if topicCtrlThrottle != "" {
+		log.Infof("configure mqtt route on throttle command")
+		client.AddRoute(topicCtrlThrottle, func(client mqtt.Client, message mqtt.Message) {
+			onThrottleCommand(gtw, message)
+		})
+	}
+}
+
+func onSteeringCommand(c *gateway.Gateway, message mqtt.Message) {
+	var steeringMsg *events2.SteeringMessage
+	err := proto.Unmarshal(message.Payload(), steeringMsg)
+	if err != nil {
+		log.Errorf("unable to unmarshal steering msg: %v", err)
+		return
+	}
+	c.WriteSteering(steeringMsg)
+}
+
+func onThrottleCommand(c *gateway.Gateway, message mqtt.Message) {
+	var throttleMsg *events2.ThrottleMessage
+	err := proto.Unmarshal(message.Payload(), throttleMsg)
+	if err != nil {
+		log.Errorf("unable to unmarshal throttle msg: %v", err)
+		return
+	}
+	c.WriteThrottle(throttleMsg)
 }
diff --git a/pkg/events/events.go b/pkg/events/events.go
index 30f76b0..8ed73a2 100644
--- a/pkg/events/events.go
+++ b/pkg/events/events.go
@@ -131,6 +131,10 @@ type Publisher interface {
 	Publish(topic string, payload []byte) error
 }
 
+func NewMqttPublisher(client mqtt.Client) *MqttPublisher {
+	return &MqttPublisher{client: client}
+}
+
 type MqttPublisher struct {
 	client mqtt.Client
 }