Do you own the condo, or is this somebody else's condo?

If you break the condo rules by renting to a roommate, then you would be subject to whatever consequence is imposed by the community rules and bylaws. That would most likely be a fine (to the owner).

Your obligations to a roommate who pays rent are those of a landlord. If you rent to a roommate in violation of the condo rules, and are caught, you can't simply ask a rent-paying roommate to leave. They must depart voluntarily, be given proper notice to terminate their tenancy, or be evicted following proper notice and for cause.

Any agreement that involves the payment of rent, be it cash or some other form of rent, makes your roommate your tenant. Calling it a "roommate agreement" doesn't change that fact.