I live in a community with an HOA as well, but I've never once asked them about the kind of plants I am putting in the ground. I now have 17 different bamboos in my yard, and to be honest I will be adding at least 5 more.
One thing about Gracilis is that you can put 12x12 patio pavers between it and the fence and you'll never have to worry about it escaping your yard. Then it just requires a little maintenance on your part to keep it nice and trimmed.
As for planting, I'd recommend putting a plant about every 6 to 8 feet apart. It will only take about 3 years for the bamboo to fill in the gaps in the canopy on top.
You're in Satellite Beach, eh? I'd recommend the drive up to Chuck Theroux's place in Ormand Beach. He's one of if not the largest tropical bamboo grower in the Southeast. His website is
www.bamboo.ws
There's also Sherry Snodgrass in Vero Beach,
www.bambooflorida.com or if you wanted to make the drive to Tampa there's a guy named Roy Rogers who propagates and sells bamboo and is getting ready to move. He has lots of 1 gal propagation reasonably priced. You can contact him on the BambooWeb forums.