It is reported in a hadith that he (peace and blessings be upon him) left his house after the iqamah had been called, so did Bilal call the iqamah without the permission of the Messenger of Allah (peace and blessings be upon him)?

Question:
Honorable Shaykh, may Allah grant you success. He says: We hear from the scholars that the adhan is the responsibility of the mu'adhdhin, and the iqamah is the responsibility of the imam. In this lesson, we heard the hadith of Abu Hurayrah that the Messenger of Allah (peace and blessings be upon him) How do you clarify that, may Allah preserve you?

Answer:
Because the Messenger (peace and blessings be upon him) gave Bilal the order to do so while he was in his house, or he sent someone to order him to do so, yes. And it was Bilal's custom to enter upon the Messenger of Allah (peace and blessings be upon him) before the iqamah; he would enter upon the Messenger, then go out and call the iqamah by the order of the Messenger of Allah (peace and blessings be upon him).