diff --git a/README.md b/README.md
index 340fafb..c8726f6 100644
--- a/README.md
+++ b/README.md
@@ -25,6 +25,21 @@ Then, to launch the world in Gazebo
 
 `ros2 launch simulator robosub.launch`
 
+To launch world + tardigrade, use
+
+`ros2 launch simulator tardigrade_singlefile.launch.py`
+
+## Controls
+`Accel` and `Twist` options are available for control, through `tardigrade/cmd_accel` and `tardigrade/cmd_vel` respectively. You may use `key_ctrl.py` for keyboard teleoperation to test things out.
+
+To launch keyboard commands and tardigrade, launch two terminals:
+
+Terminal 1: Gazebo + Tardigrade model:  
+`ros2 launch simulator tardigrade_singlefile.launch.py`
+
+Terminal 2: keyboard teleoperation:  
+`ros2 run simulator key_ctrl.py` (defaults to cmd_vel) or `ros2 run simulator key_ctrl.py --ros-args -p interface:=cmd_accel` to use Accel instead of Twist messages.
+
 ## Working with thrusters
 
 To use the thrusters on the AUV, you must run the thruster_translate node. This node
diff --git a/src/Plankton b/src/Plankton
index 5e279bc..b4525c6 160000
--- a/src/Plankton
+++ b/src/Plankton
@@ -1 +1 @@
-Subproject commit 5e279bcab1aec2b7949f5e3111cb421b9e967204
+Subproject commit b4525c6ad802929077e61c84592fa6a3866492fe
diff --git a/src/simulator/CMakeLists.txt b/src/simulator/CMakeLists.txt
index 0ce0a0c..5597c34 100644
--- a/src/simulator/CMakeLists.txt
+++ b/src/simulator/CMakeLists.txt
@@ -33,11 +33,12 @@ if(BUILD_TESTING)
 endif()
 
 install(PROGRAMS 
+  scripts/key_ctrl.py
   scripts/thruster_translate.py
   DESTINATION lib/${PROJECT_NAME}
 )
 
-install(DIRECTORY launch worlds models robots
+install(DIRECTORY launch worlds models robots config
   DESTINATION share/${PROJECT_NAME}
   PATTERN "*~"
   EXCLUDE)
diff --git a/src/simulator/CMakeLists.txt:Zone.Identifier b/src/simulator/CMakeLists.txt:Zone.Identifier
new file mode 100644
index 0000000..e69de29
diff --git a/src/simulator/config/tardigrade/inertial.yaml b/src/simulator/config/tardigrade/inertial.yaml
new file mode 100644
index 0000000..9b70840
--- /dev/null
+++ b/src/simulator/config/tardigrade/inertial.yaml
@@ -0,0 +1,11 @@
+/**:
+  ros__parameters:
+    pid:
+      mass: 1862.87
+      inertial:
+        ixx: 525.39
+        ixy: 1.44
+        ixz: 33.41
+        iyy: 794.20
+        iyz: 2.6
+        izz: 691.23
diff --git a/src/simulator/config/tardigrade/thruster_manager.yaml b/src/simulator/config/tardigrade/thruster_manager.yaml
new file mode 100644
index 0000000..1b0343f
--- /dev/null
+++ b/src/simulator/config/tardigrade/thruster_manager.yaml
@@ -0,0 +1,14 @@
+/**:
+  ros__parameters:
+    thruster_manager:
+      tf_prefix: tardigrade
+      base_link: base_link
+      thruster_topic_prefix: thrusters/
+      thruster_topic_suffix: /input
+      thruster_frame_base: thruster_
+      max_thrust: 2000.0
+      timeout: -1.0
+      update_rate: 50.0
+      conversion_fcn: proportional
+      conversion_fcn_params:
+        gain: 0.00031
diff --git a/src/simulator/config/tardigrade/vel_pid_control.yaml b/src/simulator/config/tardigrade/vel_pid_control.yaml
new file mode 100644
index 0000000..0738a3d
--- /dev/null
+++ b/src/simulator/config/tardigrade/vel_pid_control.yaml
@@ -0,0 +1,13 @@
+/**:
+  ros__parameters:
+    linear_d: 0.0
+    linear_i: 2.0
+    linear_p: 10.0
+    linear_sat: 20.0
+
+    angular_d: 1.0
+    angular_i: 2.0
+    angular_p: 10.0
+    angular_sat: 5.0
+
+    odom_vel_in_world: true
diff --git a/src/simulator/launch/tardigrade_cmd_vel.launch.py b/src/simulator/launch/tardigrade_cmd_vel.launch.py
new file mode 100644
index 0000000..800b077
--- /dev/null
+++ b/src/simulator/launch/tardigrade_cmd_vel.launch.py
@@ -0,0 +1,48 @@
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
+from launch.launch_description_sources import AnyLaunchDescriptionSource
+from launch.substitutions import LaunchConfiguration as Lc
+
+from ament_index_python.packages import get_package_share_directory
+
+import os
+
+
+def generate_launch_description():
+    singlefile_launch = os.path.join(
+        get_package_share_directory('simulator'),
+        'launch',
+        'tardigrade_singlefile.launch.py'
+    )
+
+    return LaunchDescription([
+        DeclareLaunchArgument('namespace', default_value='tardigrade'),
+        DeclareLaunchArgument('x', default_value='15'),
+        DeclareLaunchArgument('y', default_value='-15'),
+        DeclareLaunchArgument('z', default_value='-3'),
+        DeclareLaunchArgument('roll', default_value='0.0'),
+        DeclareLaunchArgument('pitch', default_value='0.0'),
+        DeclareLaunchArgument('yaw', default_value='0.0'),
+        DeclareLaunchArgument('gui', default_value='true'),
+        DeclareLaunchArgument('paused', default_value='false'),
+        DeclareLaunchArgument('headless', default_value='false'),
+        DeclareLaunchArgument('verbose', default_value='true'),
+        IncludeLaunchDescription(
+            AnyLaunchDescriptionSource(singlefile_launch),
+            launch_arguments=[
+                ('namespace', Lc('namespace')),
+                ('x', Lc('x')),
+                ('y', Lc('y')),
+                ('z', Lc('z')),
+                ('roll', Lc('roll')),
+                ('pitch', Lc('pitch')),
+                ('yaw', Lc('yaw')),
+                ('gui', Lc('gui')),
+                ('paused', Lc('paused')),
+                ('headless', Lc('headless')),
+                ('verbose', Lc('verbose')),
+                ('enable_control_interface', 'true'),
+                ('control_interface', 'cmd_vel'),
+            ],
+        ),
+    ])
diff --git a/src/simulator/launch/tardigrade_control_interface.launch.py b/src/simulator/launch/tardigrade_control_interface.launch.py
new file mode 100644
index 0000000..5d8c243
--- /dev/null
+++ b/src/simulator/launch/tardigrade_control_interface.launch.py
@@ -0,0 +1,91 @@
+# Copyright (c) 2026
+# All rights reserved.
+
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument, GroupAction, IncludeLaunchDescription
+from launch.conditions import IfCondition
+from launch.launch_description_sources import AnyLaunchDescriptionSource
+from launch.substitutions import LaunchConfiguration as Lc
+from launch.substitutions import PythonExpression
+from launch_ros.actions import Node, PushRosNamespace
+
+from ament_index_python.packages import get_package_share_directory
+
+import os
+
+
+def generate_launch_description():
+    namespace = Lc('namespace')
+    control_interface = Lc('control_interface')
+
+    simulator_share = get_package_share_directory('simulator')
+
+    thruster_manager_launch = os.path.join(
+        get_package_share_directory('uuv_thruster_manager'),
+        'launch',
+        'thruster_manager.launch'
+    )
+
+    inertial_config = os.path.join(
+        simulator_share,
+        'config',
+        'tardigrade',
+        'inertial.yaml'
+    )
+
+    velocity_config = os.path.join(
+        simulator_share,
+        'config',
+        'tardigrade',
+        'vel_pid_control.yaml'
+    )
+
+    thruster_manager_config = os.path.join(
+        simulator_share,
+        'config',
+        'tardigrade',
+        'thruster_manager.yaml'
+    )
+
+    thruster_allocator = IncludeLaunchDescription(
+        AnyLaunchDescriptionSource(thruster_manager_launch),
+        launch_arguments=[
+            ('uuv_name', namespace),
+            ('model_name', 'tardigrade'),
+            ('config_file', thruster_manager_config),
+            ('output_dir', os.path.join(simulator_share, 'config', 'tardigrade')),
+            # Always recompute TAM from current spawned model to avoid stale matrix files.
+            ('reset_tam', 'true'),
+        ],
+    )
+
+    controller_group = GroupAction([
+        PushRosNamespace(namespace),
+
+        Node(
+            package='uuv_control_cascaded_pid',
+            executable='acceleration_control.py',
+            name='acceleration_control',
+            output='screen',
+            parameters=[inertial_config],
+        ),
+
+        Node(
+            condition=IfCondition(PythonExpression(["'", control_interface, "' == 'cmd_vel'"])),
+            package='uuv_control_cascaded_pid',
+            executable='velocity_control.py',
+            name='velocity_control',
+            output='screen',
+            remappings=[
+                ('odom', [ '/', namespace, '/pose_gt' ]),
+            ],
+            parameters=[velocity_config],
+        ),
+    ])
+
+    return LaunchDescription([
+        DeclareLaunchArgument('namespace', default_value='tardigrade'),
+        DeclareLaunchArgument('control_interface', default_value='cmd_vel'),
+        thruster_allocator,
+        controller_group,
+    ])
diff --git a/src/simulator/launch/tardigrade_singlefile.launch.py b/src/simulator/launch/tardigrade_singlefile.launch.py
new file mode 100644
index 0000000..761c913
--- /dev/null
+++ b/src/simulator/launch/tardigrade_singlefile.launch.py
@@ -0,0 +1,244 @@
+# Copyright (c) 2020 The Plankton Authors.
+# All rights reserved.
+#
+# This source code is derived from UUV Simulator
+# (https://github.com/uuvsimulator/uuv_simulator)
+# Copyright (c) 2016-2019 The UUV Simulator Authors
+# licensed under the Apache license, Version 2.0
+# cf. 3rd-party-licenses.txt file in the root directory of this source tree.
+#
+from launch import LaunchDescription
+from launch.launch_description_sources import AnyLaunchDescriptionSource
+from launch_ros.actions import Node, PushRosNamespace
+from launch.actions import DeclareLaunchArgument
+from launch.actions import GroupAction
+from launch.actions import OpaqueFunction
+from launch.actions import IncludeLaunchDescription
+from launch.substitutions import LaunchConfiguration as Lc
+
+import launch_testing.actions
+
+from ament_index_python.packages import get_package_share_directory
+
+import os
+import pathlib
+import xacro
+
+
+def to_bool(value: str):
+    if isinstance(value, bool):
+        return value
+    if not isinstance(value, str):
+        raise ValueError('String to bool, invalid type ' + str(value))
+
+    valid = {'true':True, '1':True,
+             'false':False, '0':False}
+    
+    if value.lower() in valid:
+        return valid[value]
+    
+    raise ValueError('String to bool, invalid value: %s' % value)
+
+
+# =============================================================================
+def launch_setup(context, *args, **kwargs): 
+    # Perform substitutions
+    debug = Lc('debug').perform(context)
+    namespace = Lc('namespace').perform(context)
+    use_sim_time = to_bool(Lc('use_sim_time').perform(context))
+    gui = to_bool(Lc('gui').perform(context))
+    paused = to_bool(Lc('paused').perform(context))
+    headless = to_bool(Lc('headless').perform(context))
+    verbose = to_bool(Lc('verbose').perform(context))
+    x = Lc('x').perform(context)
+    y = Lc('y').perform(context)
+    z = Lc('z').perform(context)
+    roll = Lc('roll').perform(context)
+    pitch = Lc('pitch').perform(context)
+    yaw = Lc('yaw').perform(context)
+    use_world_ned = Lc('use_ned_frame').perform(context)
+    enable_control_interface = to_bool(Lc('enable_control_interface').perform(context))
+    control_interface = Lc('control_interface').perform(context)
+
+    global_sim_time = Node(
+        name='plankton_global_sim_time',
+        package='plankton_utils',
+        executable='plankton_global_sim_time',
+        output='screen',
+        parameters=[{'use_sim_time': use_sim_time}]
+    )
+
+    gazebo_launch = os.path.join(
+        get_package_share_directory('gazebo_ros'),
+        'launch',
+        'gazebo.launch.py'
+    )
+
+    world_file = os.path.join(
+        get_package_share_directory('simulator'),
+        'worlds',
+        'transdec.world'
+    )
+
+    gazebo_args = [
+        ('world', world_file),
+        ('pause', str(paused).lower()),
+        ('use_sim_time', str(use_sim_time).lower()),
+        ('gui', str(gui).lower()),
+        ('headless', str(headless).lower()),
+        ('debug', 'false'),
+        ('verbose', str(verbose).lower()),
+        ('extra_gazebo_args', '-s libgazebo_ros_force_system.so --ros-args -r gazebo:__ns:=/gazebo'),
+    ]
+
+    gazebo_world = IncludeLaunchDescription(
+        AnyLaunchDescriptionSource(gazebo_launch),
+        launch_arguments=gazebo_args,
+    )
+
+    control_launch_file = os.path.join(
+        get_package_share_directory('simulator'),
+        'launch',
+        'tardigrade_control_interface.launch.py'
+    )
+
+    if not pathlib.Path(control_launch_file).exists():
+        exc = 'Launch file ' + control_launch_file + ' does not exist'
+        raise Exception(exc)
+
+    control_launch = IncludeLaunchDescription(
+        AnyLaunchDescriptionSource(control_launch_file),
+        launch_arguments=[
+            ('namespace', namespace),
+            ('control_interface', control_interface),
+        ],
+    )
+
+    # Xacro
+    xacro_file = os.path.join(
+        get_package_share_directory('simulator'),
+        'robots',
+        'tardigrade_default.xacro'
+    )
+
+    # Build the directories, check for existence
+    path = os.path.join(
+        get_package_share_directory('simulator'),
+        'robots',
+        'generated',
+        namespace,
+    )
+
+    if not pathlib.Path(path).exists():
+        try:
+            # Create directory if required and sub-directory
+            os.makedirs(path)
+        except OSError:
+            print ("Creation of the directory %s failed" % path)
+    
+    output = os.path.join(
+        path,
+        'robot_description'
+    )
+
+    if not pathlib.Path(xacro_file).exists():
+        exc = 'Launch file ' + xacro_file + ' does not exist'
+        raise Exception(exc)
+    
+    mapping = {}
+    if to_bool(use_world_ned):
+        mappings={'debug': debug, 'namespace': namespace, 'inertial_reference_frame':'world_ned'}
+    else:
+        mappings={'debug': debug, 'namespace': namespace, 'inertial_reference_frame':'world'}
+    
+    doc = xacro.process(xacro_file, mappings=mappings)
+         
+    with open(output, 'w') as file_out:
+        file_out.write(doc)
+    
+    # URDF spawner
+    args=('-gazebo_namespace /gazebo '
+        '-x %s -y %s -z %s -R %s -P %s -Y %s -entity %s -file %s' 
+        %(x, y, z, roll, pitch, yaw, namespace, output)).split()
+
+    # Urdf spawner. NB: node namespace does not prefix the topic, 
+    # as using a leading /
+    urdf_spawner = Node(
+        name = 'urdf_spawner',
+        package='gazebo_ros',
+        executable='spawn_entity.py',
+        output='screen',
+        parameters=[{'use_sim_time': use_sim_time}],
+        # TODO To replace in foxy with parameters=[{'robot_description', Command('ros2 run xacro...')}]
+        arguments=args
+    )
+
+    # A joint state publisher plugin already is started with the model, no need to use the default joint state publisher
+
+    args = (output).split()
+    robot_state_publisher = Node(
+        name = 'robot_state_publisher',
+        package='robot_state_publisher',
+        executable='robot_state_publisher',
+        # TODO To replace in foxy with parameters=[{'robot_description', Command('ros2 run xacro...')}]
+        arguments=args,
+        output = 'screen',
+        parameters=[{'use_sim_time': use_sim_time}] # Use subst here
+    )
+
+    # Message to tf
+    message_to_tf_launch = os.path.join(
+        get_package_share_directory('uuv_assistants'),
+        'launch',
+        'message_to_tf.launch'
+    )
+
+    if not pathlib.Path(message_to_tf_launch).exists():
+        exc = 'Launch file ' + message_to_tf_launch + ' does not exist'
+        raise Exception(exc)
+
+    launch_args = [('namespace', namespace), ('world_frame', 'world'), 
+            ('child_frame_id', '/' + namespace + '/base_link')]
+    message_to_tf_launch = IncludeLaunchDescription(
+            AnyLaunchDescriptionSource(message_to_tf_launch), launch_arguments=launch_args)
+
+   
+    group = GroupAction([
+        PushRosNamespace(namespace), 
+        urdf_spawner, 
+        robot_state_publisher,
+    ])
+    
+
+    actions = [global_sim_time, gazebo_world, group, message_to_tf_launch]
+    if enable_control_interface:
+        actions.append(control_launch)
+
+    return actions
+
+# =============================================================================
+def generate_launch_description():
+    # TODO Try LaunchContext ?
+    return LaunchDescription([
+        DeclareLaunchArgument('debug', default_value='0'),
+
+        DeclareLaunchArgument('x', default_value='15'),
+        DeclareLaunchArgument('y', default_value='-15'),
+        DeclareLaunchArgument('z', default_value='-3'),
+        DeclareLaunchArgument('roll', default_value='0.0'),
+        DeclareLaunchArgument('pitch', default_value='0.0'),
+        DeclareLaunchArgument('yaw', default_value='0.0'),
+
+        DeclareLaunchArgument('mode', default_value='default'),
+        DeclareLaunchArgument('namespace', default_value='tardigrade'),
+        DeclareLaunchArgument('use_ned_frame', default_value='false'),
+        DeclareLaunchArgument('use_sim_time', default_value='true'),
+        DeclareLaunchArgument('gui', default_value='true'),
+        DeclareLaunchArgument('paused', default_value='false'),
+        DeclareLaunchArgument('headless', default_value='false'),
+        DeclareLaunchArgument('verbose', default_value='true'),
+        DeclareLaunchArgument('enable_control_interface', default_value='true'),
+        DeclareLaunchArgument('control_interface', default_value='cmd_vel'),
+
+        OpaqueFunction(function = launch_setup)
+    ])
\ No newline at end of file
diff --git a/src/simulator/package.xml b/src/simulator/package.xml
index 03214df..35581b0 100644
--- a/src/simulator/package.xml
+++ b/src/simulator/package.xml
@@ -11,6 +11,11 @@
 
   <depend>gazebo_ros</depend>
   <depend>gazebo_msgs</depend>
+  <depend>geometry_msgs</depend>
+  <depend>rclpy</depend>
+  <depend>uuv_control_cascaded_pid</depend>
+  <depend>uuv_thruster_manager</depend>
+  <depend>plankton_utils</depend>
 
   <exec_depend>launch_xml</exec_depend>
 
diff --git a/src/simulator/scripts/key_ctrl.py b/src/simulator/scripts/key_ctrl.py
new file mode 100755
index 0000000..8777aed
--- /dev/null
+++ b/src/simulator/scripts/key_ctrl.py
@@ -0,0 +1,132 @@
+#!/usr/bin/env python3
+
+import select
+import sys
+import termios
+import tty
+
+import rclpy
+from geometry_msgs.msg import Accel, Twist
+from rclpy.node import Node
+
+
+class KeyCtrl(Node):
+    def __init__(self):
+        super().__init__('key_ctrl')
+
+        self.declare_parameter('namespace', 'tardigrade')
+        self.declare_parameter('interface', 'cmd_vel')
+        self.declare_parameter('publish_rate', 20.0)
+        self.declare_parameter('linear_step', 0.4)
+        self.declare_parameter('vertical_step', 0.25)
+        self.declare_parameter('yaw_step', 0.5)
+
+        namespace = self.get_parameter('namespace').value
+        interface = self.get_parameter('interface').value
+        self.linear_step = float(self.get_parameter('linear_step').value)
+        self.vertical_step = float(self.get_parameter('vertical_step').value)
+        self.yaw_step = float(self.get_parameter('yaw_step').value)
+
+        if interface not in ('cmd_vel', 'cmd_accel'):
+            raise ValueError("Parameter 'interface' must be 'cmd_vel' or 'cmd_accel'")
+
+        self.interface = interface
+        self.topic = f'/{namespace}/{interface}'
+
+        if self.interface == 'cmd_vel':
+            self.publisher = self.create_publisher(Twist, self.topic, 10)
+        else:
+            self.publisher = self.create_publisher(Accel, self.topic, 10)
+
+        # self.settings = termios.tcgetattr(sys.stdin)
+        self.get_logger().info('Publishing %s commands on %s' % (self.interface, self.topic))
+        self.get_logger().info(
+            'Controls: W/S forward/back, A/D left/right, Q/E yaw left/right, Z/C dive/rise, SPACE stop, Ctrl-C exit'
+        )
+
+        # period = 1.0 / max(float(self.get_parameter('publish_rate').value), 1.0)
+        # self.timer = self.create_timer(period, self._tick)
+
+    # def _read_key(self):
+    #     tty.setraw(sys.stdin.fileno())
+    #     rlist, _, _ = select.select([sys.stdin], [], [], 0.0)
+    #     key = sys.stdin.read(1) if rlist else ''
+    #     termios.tcsetattr(sys.stdin, termios.TCSADRAIN, self.settings)
+    #     return key
+
+    def _build_message(self, key):
+        lin_x = 0.0
+        lin_y = 0.0
+        lin_z = 0.0
+        yaw_z = 0.0
+
+        if key == 'w':
+            lin_x = self.linear_step
+        elif key == 's':
+            lin_x = -self.linear_step
+        elif key == 'a':
+            lin_y = self.linear_step
+        elif key == 'd':
+            lin_y = -self.linear_step
+        elif key == 'q':
+            yaw_z = self.yaw_step
+        elif key == 'e':
+            yaw_z = -self.yaw_step
+        elif key == 'z':
+            lin_z = -self.vertical_step
+        elif key == 'c':
+            lin_z = self.vertical_step
+        else:
+            return Twist() if self.interface == 'cmd_vel' else Accel()
+
+        if self.interface == 'cmd_vel':
+            msg = Twist()
+        else:
+            msg = Accel()
+
+        msg.linear.x = lin_x
+        msg.linear.y = lin_y
+        msg.linear.z = lin_z
+        msg.angular.z = yaw_z
+
+        return msg
+
+    # def _tick(self):
+    #     key = self._read_key()
+
+    #     if key == '\x03':
+    #         self._publish_zero()
+    #         raise KeyboardInterrupt
+
+    #     msg = self._build_message(key)
+    #     self.publisher.publish(msg)
+
+    def _publish_zero(self):
+        if self.interface == 'cmd_vel':
+            msg = Twist()
+        else:
+            msg = Accel()
+        self.publisher.publish(msg)
+
+
+
+def main(args=None):
+    rclpy.init(args=args)
+
+    node = KeyCtrl()
+    try:
+        while(1):
+            key = input().strip().lower()
+            cmd = node._build_message(key)
+            node.publisher.publish(cmd)
+    except KeyboardInterrupt:
+        node.get_logger().info('Stopping key_ctrl')
+    finally:
+        node._publish_zero()
+        # termios.tcsetattr(sys.stdin, termios.TCSADRAIN, node.settings)
+        node.destroy_node()
+        rclpy.shutdown()
+
+
+if __name__ == '__main__':
+    main()