diff --git a/.gitignore b/.gitignore
index 9b144e1..69a5924 100644
--- a/.gitignore
+++ b/.gitignore
@@ -5,6 +5,7 @@ best.pt
 .venv-formatters
 autonomy/src/autonomy.egg-info
 hydrus_software_stack.egg-info
+*build/
 
 # Generated by Cargo
 # will have compiled files and executables
diff --git a/.vscode/c_cpp_properties.json b/.vscode/c_cpp_properties.json
new file mode 100644
index 0000000..97c74f9
--- /dev/null
+++ b/.vscode/c_cpp_properties.json
@@ -0,0 +1,17 @@
+{
+    "configurations": [
+        {
+            "name": "Linux",
+            "includePath": [
+                "${workspaceFolder}/**",
+                "/usr/local/include/Stonefish/**"
+            ],
+            "defines": [],
+            "compilerPath": "/usr/bin/gcc",
+            "cStandard": "c17",
+            "cppStandard": "gnu++17",
+            "intelliSenseMode": "linux-gcc-x64"
+        }
+    ],
+    "version": 4
+}
\ No newline at end of file
diff --git a/.vscode/settings.json b/.vscode/settings.json
index 5406887..f9b311b 100644
--- a/.vscode/settings.json
+++ b/.vscode/settings.json
@@ -1,27 +1,28 @@
 {
-        "python.autoComplete.extraPaths": [
-            "/home/catkin_ws/src/hydrus-software-stack/scripts",
-            "/catkin_ws/devel/lib/python3/dist-packages",
-            "/opt/ros/noetic/lib/python3/dist-packages"
-        ],
-        "python.analysis.extraPaths": [
-            "/home/catkin_ws/src/hydrus-software-stack/scripts",
-            "/catkin_ws/devel/lib/python3/dist-packages",
-            "/opt/ros/noetic/lib/python3/dist-packages"
-        ],
-        "pyrefly.trace.server": "verbose",
-        "editor.hover.enabled": true,
-        "editor.snippetSuggestions": "inline",
-        "python.testing.unittestArgs": [
-            "-v",
-            "-s",
-            "./test",
-            "-p",
-            "*_test.py"
-        ],
-        "python.testing.pytestEnabled": false,
-        "python.testing.unittestEnabled": true,
-        "files.associations": {
-            "*.hss": "yaml"
-        }
-}
+    "python.autoComplete.extraPaths": [
+        "/home/catkin_ws/src/hydrus-software-stack/scripts",
+        "/catkin_ws/devel/lib/python3/dist-packages",
+        "/opt/ros/noetic/lib/python3/dist-packages"
+    ],
+    "python.analysis.extraPaths": [
+        "/home/catkin_ws/src/hydrus-software-stack/scripts",
+        "/catkin_ws/devel/lib/python3/dist-packages",
+        "/opt/ros/noetic/lib/python3/dist-packages"
+    ],
+    "pyrefly.trace.server": "verbose",
+    "editor.hover.enabled": true,
+    "editor.snippetSuggestions": "inline",
+    "python.testing.unittestArgs": [
+        "-v",
+        "-s",
+        "./test",
+        "-p",
+        "*_test.py"
+    ],
+    "python.testing.pytestEnabled": false,
+    "python.testing.unittestEnabled": true,
+    "files.associations": {
+        "*.hss": "yaml"
+    },
+    "cmake.ignoreCMakeListsMissing": true
+}
\ No newline at end of file
diff --git a/docker/amd64/cpu/hydrus.Dockerfile b/docker/amd64/cpu/hydrus.Dockerfile
index ac7e556..00d20af 100644
--- a/docker/amd64/cpu/hydrus.Dockerfile
+++ b/docker/amd64/cpu/hydrus.Dockerfile
@@ -100,6 +100,8 @@ RUN apt-get update && apt-get install -y \
     ros-noetic-image-transport \
     ros-noetic-laser-proc
 
+
+
 COPY ./devices/Arduino/HydrusModule /root/Arduino/libraries/HydrusModule
 
 COPY ./ /catkin_ws/src/hydrus-software-stack
diff --git a/docker/simulation/entrypoint.sh b/docker/simulation/entrypoint.sh
new file mode 100755
index 0000000..9e81caf
--- /dev/null
+++ b/docker/simulation/entrypoint.sh
@@ -0,0 +1,4 @@
+#!/usr/bin/env bash
+colcon build --symlink-install
+source install/setup.bash
+ros2 launch hydrus_sim_ros2 hydrussim.launch.py
\ No newline at end of file
diff --git a/docker/simulation/simulation.Dockerfile b/docker/simulation/simulation.Dockerfile
new file mode 100644
index 0000000..070b326
--- /dev/null
+++ b/docker/simulation/simulation.Dockerfile
@@ -0,0 +1,45 @@
+FROM osrf/ros:humble-desktop-full-jammy
+RUN apt-get update
+
+ARG DEBIAN_FRONTEND=noninteractive
+
+RUN apt-get upgrade -y && \
+	apt-get install -y \
+	libglm-dev \
+	libfreetype6-dev \
+	libsdl2-dev \
+	python3-colcon-common-extensions \
+	python3-rosdep \
+	python3-vcstool \
+	python3-ament-package \
+	ros-humble-ament-cmake
+
+# Setup Stonefish
+
+WORKDIR /home/
+
+RUN git clone https://github.com/patrykcieslak/stonefish
+RUN cd stonefish && mkdir build  && cd build  && cmake ..  && make -j$(nproc) && sudo make install
+
+# ROS 2 workspace setup
+SHELL ["/bin/bash", "-c"]
+
+ENV ROS_WS=/home/ros2_ws
+
+RUN mkdir -p /${ROS_WS}/src \
+	&& echo "source /opt/ros/humble/setup.bash" >> ~/.bashrc 
+
+WORKDIR $ROS_WS/
+
+RUN cd src \
+	&& git clone https://github.com/juandelpueblo/stonefish_ros2.git
+
+RUN source /opt/ros/humble/setup.bash && colcon build --symlink-install \
+	&& source install/setup.bash
+
+WORKDIR $ROS_WS/
+
+COPY docker/simulation/entrypoint.sh .
+COPY docker/simulation/thruster_teleop.sh .
+
+CMD ["bash", "entrypoint.sh"]
\ No newline at end of file
diff --git a/docker/simulation/simulation.yaml b/docker/simulation/simulation.yaml
new file mode 100644
index 0000000..ac970ab
--- /dev/null
+++ b/docker/simulation/simulation.yaml
@@ -0,0 +1,19 @@
+services:
+  simulation:
+    build:
+      context: ../../../hydrus-software-stack
+      dockerfile: docker/simulation/simulation.Dockerfile
+    privileged: true
+    runtime: nvidia
+    environment:
+      - DISPLAY=${DISPLAY}
+      - PYTHONUNBUFFERED=1
+    ulimits:
+      nofile:
+        soft: 1024
+        hard: 524288
+    volumes:
+      - /tmp/.X11-unix:/tmp/.X11-unix
+      - ../../simulation/hydrus_sim_ros2:/home/ros2_ws/src/hydrus_sim_ros2
+    stdin_open: true
+    tty: true
diff --git a/docker/simulation/thruster_teleop.sh b/docker/simulation/thruster_teleop.sh
new file mode 100755
index 0000000..0f7741f
--- /dev/null
+++ b/docker/simulation/thruster_teleop.sh
@@ -0,0 +1,3 @@
+#!/usr/bin/env bash
+source install/setup.bash
+ros2 run hydrus_sim_ros2 thruster_teleop
\ No newline at end of file
diff --git a/simulation/README.md b/simulation/README.md
new file mode 100644
index 0000000..aad5541
--- /dev/null
+++ b/simulation/README.md
@@ -0,0 +1,13 @@
+# How to run:
+
+Docker is required to run the simulation along with a Linux install (WSL works but very slow). An Nvidia GPU is also highly recommended.
+
+1. Go to docker/simulation folder
+
+2. Run `docker compose -f simulation.yaml run simulation`. This will launch a window with the simulation.
+
+To control thrusters, follow these steps after running the simulation:
+
+1. Run `docker compose -f simulation.yaml run simulation /bin/bash` in another terminal window/tab to gain access to the shell.
+
+2. Run `ros2 topic pub /hydrus_thrusters std_msgs/msg/Float64MultiArray "{layout: {}, data: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]}"`. The first 4 are the corner thrusters while the last 4 are the depth thrusters. 
\ No newline at end of file
diff --git a/simulation/hydrus_sim_ros2/data/models/hydrus_unibody.obj b/simulation/hydrus_sim_ros2/data/models/hydrus_unibody.obj
new file mode 100644
index 0000000..152f22d
--- /dev/null
+++ b/simulation/hydrus_sim_ros2/data/models/hydrus_unibody.obj
@@ -0,0 +1,2807 @@
+# WaveFront *.obj file (generated by Autodesk ATF)
+
+mtllib Experimental obj file (unibody) v0.mtl
+
+g Body1
+
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diff --git a/simulation/hydrus_sim_ros2/data/models/hydrus_unibody_centered.obj b/simulation/hydrus_sim_ros2/data/models/hydrus_unibody_centered.obj
new file mode 100644
index 0000000..6924a2f
--- /dev/null
+++ b/simulation/hydrus_sim_ros2/data/models/hydrus_unibody_centered.obj
@@ -0,0 +1,1755 @@
+# Blender 4.5.1 LTS
+# www.blender.org
+mtllib hydrus_unibody_centered.mtl
+o hydrus_unibody
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diff --git a/simulation/hydrus_sim_ros2/data/models/propeller.obj b/simulation/hydrus_sim_ros2/data/models/propeller.obj
new file mode 100644
index 0000000..37622c1
--- /dev/null
+++ b/simulation/hydrus_sim_ros2/data/models/propeller.obj
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diff --git a/simulation/hydrus_sim_ros2/data/scenarios/hydrus_auv.scn b/simulation/hydrus_sim_ros2/data/scenarios/hydrus_auv.scn
new file mode 100644
index 0000000..7a24f92
--- /dev/null
+++ b/simulation/hydrus_sim_ros2/data/scenarios/hydrus_auv.scn
@@ -0,0 +1,225 @@
+<?xml version="1.0"?>
+<scenario>
+	<robot name="$(arg robot_name)" fixed="false" self_collisions="false">
+		<base_link name="Hydrus" type="compound" physics="submerged">
+			<external_part name="HydrusUnibody" type="model" physics="submerged" buoyant="true">
+				<physical>
+					<mesh filename="models/hydrus_unibody_centered.obj" scale="1.0" />
+					<origin rpy="-1.5708 0.0 0.0" xyz="0.0 0.0 0.0" />
+				</physical>
+				<material name="Plastic" />
+				<look name="green" />
+				<compound_transform rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0" />
+			</external_part>
+		</base_link>
+
+		<ros_subscriber thrusters="/hydrus_thrusters" />
+
+		<!-- Corner Thrusters -->
+		<actuator name="thruster_front_left" type="thruster">
+			<link name="Hydrus" />
+			<origin rpy="0.0 0.0 -1.1781" xyz="0.198 0.407 0.0" />
+			<specs max_setpoint="${1000.0/60.0*2.0*pi}" inverted_setpoint="true"
+				normalized_setpoint="true" />
+			<propeller diameter="0.18" right="true">
+				<mesh filename="models/propeller.obj" scale="0.75" />
+				<material name="Plastic" />
+				<look name="propeller" />
+			</propeller>
+			<rotor_dynamics type="mechanical_pi">
+				<kp value="1.0" />
+				<ki value="10.0" />
+				<ilimit value="5.0" />
+			</rotor_dynamics>
+			<thrust_model type="fluid_dynamics">
+				<thrust_coeff forward="0.48" reverse="0.48" />
+				<torque_coeff value="0.05" />
+			</thrust_model>
+		</actuator>
+
+		<actuator name="thruster_front_right" type="thruster">
+			<link name="Hydrus" />
+			<origin rpy="0.0 0.0 1.1781" xyz="0.198 -0.408 0.0" />
+			<specs max_setpoint="${1000.0/60.0*2.0*pi}" inverted_setpoint="true"
+				normalized_setpoint="true" />
+			<propeller diameter="0.18" right="true">
+				<mesh filename="models/propeller.obj" scale="0.75" />
+				<material name="Plastic" />
+				<look name="propeller" />
+			</propeller>
+			<rotor_dynamics type="mechanical_pi">
+				<kp value="1.0" />
+				<ki value="10.0" />
+				<ilimit value="5.0" />
+			</rotor_dynamics>
+			<thrust_model type="fluid_dynamics">
+				<thrust_coeff forward="0.48" reverse="0.48" />
+				<torque_coeff value="0.05" />
+			</thrust_model>
+		</actuator>
+
+		<actuator name="thruster_back_left" type="thruster">
+			<link name="Hydrus" />
+			<origin rpy="0.0 0.0 -1.9635" xyz="-0.198 0.407 0.0" />
+			<specs max_setpoint="${1000.0/60.0*2.0*pi}" inverted_setpoint="true"
+				normalized_setpoint="true" />
+			<propeller diameter="0.18" right="true">
+				<mesh filename="models/propeller.obj" scale="0.75" />
+				<material name="Plastic" />
+				<look name="propeller" />
+			</propeller>
+			<rotor_dynamics type="mechanical_pi">
+				<kp value="1.0" />
+				<ki value="10.0" />
+				<ilimit value="5.0" />
+			</rotor_dynamics>
+			<thrust_model type="fluid_dynamics">
+				<thrust_coeff forward="0.48" reverse="0.48" />
+				<torque_coeff value="0.05" />
+			</thrust_model>
+		</actuator>
+
+		<actuator name="thruster_back_right" type="thruster">
+			<link name="Hydrus" />
+			<origin rpy="0.0 0.0 1.9635" xyz="-0.198 -0.408 0.0" />
+			<specs max_setpoint="${1000.0/60.0*2.0*pi}" inverted_setpoint="true"
+				normalized_setpoint="true" />
+			<propeller diameter="0.18" right="true">
+				<mesh filename="models/propeller.obj" scale="0.75" />
+				<material name="Plastic" />
+				<look name="propeller" />
+			</propeller>
+			<rotor_dynamics type="mechanical_pi">
+				<kp value="1.0" />
+				<ki value="10.0" />
+				<ilimit value="5.0" />
+			</rotor_dynamics>
+			<thrust_model type="fluid_dynamics">
+				<thrust_coeff forward="0.48" reverse="0.48" />
+				<torque_coeff value="0.05" />
+			</thrust_model>
+		</actuator>
+
+		<!-- Depth Thrusters -->
+		<actuator name="thruster_depth_1" type="thruster">
+			<link name="Hydrus" />
+			<origin rpy="0.0 -1.571 0.0" xyz="0.211 0.169 0.0" />
+			<specs max_setpoint="${1000.0/60.0*2.0*pi}" inverted_setpoint="true"
+				normalized_setpoint="true" />
+			<propeller diameter="0.18" right="true">
+				<mesh filename="models/propeller.obj" scale="0.75" />
+				<material name="Plastic" />
+				<look name="propeller" />
+			</propeller>
+			<rotor_dynamics type="mechanical_pi">
+				<kp value="1.0" />
+				<ki value="10.0" />
+				<ilimit value="5.0" />
+			</rotor_dynamics>
+			<thrust_model type="fluid_dynamics">
+				<thrust_coeff forward="0.48" reverse="0.48" />
+				<torque_coeff value="0.05" />
+			</thrust_model>
+		</actuator>
+
+		<actuator name="thruster_depth_2" type="thruster">
+			<link name="Hydrus" />
+			<origin rpy="0.0 -1.571 0.0" xyz="0.211 -0.169 0.0" />
+			<specs max_setpoint="${1000.0/60.0*2.0*pi}" inverted_setpoint="true"
+				normalized_setpoint="true" />
+			<propeller diameter="0.18" right="true">
+				<mesh filename="models/propeller.obj" scale="0.75" />
+				<material name="Plastic" />
+				<look name="propeller" />
+			</propeller>
+			<rotor_dynamics type="mechanical_pi">
+				<kp value="1.0" />
+				<ki value="10.0" />
+				<ilimit value="5.0" />
+			</rotor_dynamics>
+			<thrust_model type="fluid_dynamics">
+				<thrust_coeff forward="0.48" reverse="0.48" />
+				<torque_coeff value="0.05" />
+			</thrust_model>
+		</actuator>
+
+		<actuator name="thruster_depth_3" type="thruster">
+			<link name="Hydrus" />
+			<origin rpy="0.0 -1.571 0.0" xyz="-0.211 0.169 0.0" />
+			<specs max_setpoint="${1000.0/60.0*2.0*pi}" inverted_setpoint="true"
+				normalized_setpoint="true" />
+			<propeller diameter="0.18" right="true">
+				<mesh filename="models/propeller.obj" scale="0.75" />
+				<material name="Plastic" />
+				<look name="propeller" />
+			</propeller>
+			<rotor_dynamics type="mechanical_pi">
+				<kp value="1.0" />
+				<ki value="10.0" />
+				<ilimit value="5.0" />
+			</rotor_dynamics>
+			<thrust_model type="fluid_dynamics">
+				<thrust_coeff forward="0.48" reverse="0.48" />
+				<torque_coeff value="0.05" />
+			</thrust_model>
+		</actuator>
+
+		<actuator name="thruster_depth_4" type="thruster">
+			<link name="Hydrus" />
+			<origin rpy="0.0 -1.571 0.0" xyz="-0.211 -0.169 0.0" />
+			<specs max_setpoint="${1000.0/60.0*2.0*pi}" inverted_setpoint="true"
+				normalized_setpoint="true" />
+			<propeller diameter="0.18" right="true">
+				<mesh filename="models/propeller.obj" scale="0.75" />
+				<material name="Plastic" />
+				<look name="propeller" />
+			</propeller>
+			<rotor_dynamics type="mechanical_pi">
+				<kp value="1.0" />
+				<ki value="10.0" />
+				<ilimit value="5.0" />
+			</rotor_dynamics>
+			<thrust_model type="fluid_dynamics">
+				<thrust_coeff forward="0.48" reverse="0.48" />
+				<torque_coeff value="0.05" />
+			</thrust_model>
+		</actuator>
+
+		<!-- VN-100 IMU-based sensor (units noted below) -->
+		<!-- source: mr. gpt-5 -->
+		<sensor name="IMU" rate="800.0" type="imu">
+			<!-- Ranges:
+       angular_velocity: ±2000 °/s  → ±34.9066 rad/s (same on all axes)
+       linear_acceleration: ±16 g   → ±156.9064 m/s^2 -->
+			<range angular_velocity="34.9066 34.9066 34.9066"
+				linear_acceleration="156.9064" />
+
+			<!-- Noise (per-sample 1σ at 800 Hz):
+       Gyro noise density ≈ 0.0035 °/s/√Hz → 6.1087e-5 rad/s/√Hz
+       σ_per_sample = density * sqrt(BW) with BW ≈ rate/2 → ≈ 0.00122 rad/s
+       Accel noise density ≈ 0.14 mg/√Hz → 0.0013729 m/s^2/√Hz
+       σ_per_sample ≈ 0.02746 m/s^2
+       Yaw drift approximates gyro in-run bias: 5 °/hr → 2.4241e-5 rad/s
+       Angle entries here reflect AHRS attitude RMS (deg): roll/pitch ~0.5°, heading ~2.0° -->
+			<noise angle="0.5 0.5 2.0"
+				angular_velocity="0.00122"
+				yaw_drift="2.4241e-5"
+				linear_acceleration="0.02746" />
+
+			<history samples="1" />
+			<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
+			<link name="Hydrus" />
+			<ros_publisher topic="/hydrus/imu" />
+		</sensor>
+
+
+		<sensor name="Camera" rate="10.0" type="camera">
+			<specs resolution_x="800" resolution_y="600" horizontal_fov="60.0" />
+			<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
+			<link name="Hydrus" />
+			<ros_publisher topic="/hydrus/camera" />
+		</sensor>
+
+		<world_transform rpy="0.0 0.0 0.0" xyz="$(arg robot_position)" />
+	</robot>
+</scenario>
\ No newline at end of file
diff --git a/simulation/hydrus_sim_ros2/data/scenarios/hydrus_env.scn b/simulation/hydrus_sim_ros2/data/scenarios/hydrus_env.scn
new file mode 100644
index 0000000..b689629
--- /dev/null
+++ b/simulation/hydrus_sim_ros2/data/scenarios/hydrus_env.scn
@@ -0,0 +1,48 @@
+<?xml version="1.0"?>
+<scenario>
+	<environment>
+		<ned latitude="0.0" longitude="0.0" />
+
+		<ocean>
+			<water density="1025.0" jerlov="0.2" />
+			<waves height="0.0" />
+			<current type="uniform">
+				<velocity xyz="0.0 0.0 0.0" />
+			</current>
+		</ocean>
+
+		<atmosphere>
+			<sun azimuth="0.0" elevation="60.0" />
+		</atmosphere>
+	</environment>
+
+	<materials>
+		<material name="Aluminium" density="2700.0" restitution="0.8" />
+		<material name="Steel" density="7810.0" restitution="0.9" />
+		<material name="Plastic" density="1500.0" restitution="0.4" />
+		<material name="Dummy" density="1000.0" restitution="0.5" />
+		<friction_table>
+			<friction material1="Aluminium" material2="Aluminium" static="0.7" dynamic="0.5" />
+			<friction material1="Steel" material2="Steel" static="0.4" dynamic="0.2" />
+			<friction material1="Aluminium" material2="Steel" static="0.6" dynamic="0.4" />
+		</friction_table>
+	</materials>
+
+	<looks>
+		<look name="green" rgb="0.0 1.0 0.0" roughness="0.1" metalness="0.1" />
+		<look name="gray" gray="0.5" roughness="0.3" metalness="0.2" />
+		<look name="red" rgb="1.0 0.0 0.0" roughness="0.1" metalness="0.0" />
+		<look name="propeller" gray="1.0" roughness="0.3" />
+	</looks>
+
+	<static name="Ground" type="plane">
+		<material name="Steel" />
+		<look name="gray" />
+		<world_transform rpy="0.0 0.0 0.0" xyz="0.0 0.0 5.0" />
+	</static>
+	<!-- Single Hydrus AUV instance -->
+	<include file="scenarios/hydrus_auv.scn">
+		<arg name="robot_name" value="HydrusAUV" />
+		<arg name="robot_position" value="0.0 0.0 0.0" />
+	</include>
+</scenario>
\ No newline at end of file
diff --git a/simulation/hydrus_sim_ros2/hydrus_sim_ros2/__init__.py b/simulation/hydrus_sim_ros2/hydrus_sim_ros2/__init__.py
new file mode 100644
index 0000000..e69de29
diff --git a/simulation/hydrus_sim_ros2/hydrus_sim_ros2/thruster_teleop.py b/simulation/hydrus_sim_ros2/hydrus_sim_ros2/thruster_teleop.py
new file mode 100644
index 0000000..387f680
--- /dev/null
+++ b/simulation/hydrus_sim_ros2/hydrus_sim_ros2/thruster_teleop.py
@@ -0,0 +1,185 @@
+import rclpy
+from rclpy.node import Node
+import threading
+import sys
+import termios
+import tty
+
+from std_msgs.msg import Float64MultiArray
+
+
+class ThrusterTeleOp(Node):
+
+    def __init__(self):
+        super().__init__('thruster_teleop')
+        self.publisher_ = self.create_publisher(
+            Float64MultiArray, '/hydrus_thrusters', 10)
+        timer_period = 0.1  # seconds
+        self.timer = self.create_timer(timer_period, self.timer_callback)
+        self.thruster_speeds = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+
+        # Vertical movement settings
+        self.vertical_thrust = 0.0
+        self.thrust_increment = 0.1
+        self.max_thrust = 1.0
+        self.min_thrust = -1.0
+
+        # Horizontal movement settings for corner thrusters
+        self.forward_thrust = 0.0
+        self.rotation_thrust = 0.0
+
+        # Start keyboard listener thread
+        self.running = True
+        self.keyboard_thread = threading.Thread(target=self.keyboard_listener)
+        self.keyboard_thread.daemon = True
+        self.keyboard_thread.start()
+
+        self.print_instructions()
+
+    def print_instructions(self):
+        print("\n=== Hydrus Thruster Teleop Control ===")
+        print("Controls:")
+        print("  w : Move forward (stops rotation)")
+        print("  s : Move backward (stops rotation)")
+        print("  a : Rotate left (stops forward/backward)")
+        print("  d : Rotate right (stops forward/backward)")
+        print("  q : Move up (increase thrust)")
+        print("  e : Move down (decrease thrust)")
+        print("  x : Stop all thrusters")
+        print("  z : Quit")
+        print("Note: Forward/backward and rotation are mutually exclusive")
+        print("=====================================\n")
+
+    def keyboard_listener(self):
+        """Listen for keyboard input in a separate thread"""
+        old_settings = termios.tcgetattr(sys.stdin)
+        try:
+            tty.setraw(sys.stdin.fileno())
+            while self.running:
+                key = sys.stdin.read(1)
+                if key:
+                    self.process_key(key)
+        except Exception as e:
+            self.get_logger().error(f'Keyboard listener error: {e}')
+        finally:
+            termios.tcsetattr(sys.stdin, termios.TCSADRAIN, old_settings)
+
+    def process_key(self, key):
+        """Process keyboard input"""
+        key_lower = key.lower()
+
+        if key_lower == 'w':
+            # Move forward - thrusters 0 and 2 forward
+            # Reset rotation when moving forward
+            self.rotation_thrust = 0.0
+            self.forward_thrust = min(self.max_thrust,
+                                      self.forward_thrust + self.thrust_increment)
+            self.get_logger().info(
+                f'Moving forward - Thrust: {self.forward_thrust:.1f}')
+
+        elif key_lower == 's':
+            # Move backward - thrusters 0 and 2 backward
+            # Reset rotation when moving backward
+            self.rotation_thrust = 0.0
+            self.forward_thrust = max(self.min_thrust,
+                                      self.forward_thrust - self.thrust_increment)
+            self.get_logger().info(
+                f'Moving backward - Thrust: {self.forward_thrust:.1f}')
+
+        elif key_lower == 'a':
+            # Rotate left
+            # Reset forward movement when rotating
+            self.forward_thrust = 0.0
+            self.rotation_thrust = min(self.max_thrust,
+                                       self.rotation_thrust + self.thrust_increment)
+            self.get_logger().info(
+                f'Rotating left - Thrust: {self.rotation_thrust:.1f}')
+
+        elif key_lower == 'd':
+            # Rotate right
+            # Reset forward movement when rotating
+            self.forward_thrust = 0.0
+            self.rotation_thrust = max(self.min_thrust,
+                                       self.rotation_thrust - self.thrust_increment)
+            self.get_logger().info(
+                f'Rotating right - Thrust: {self.rotation_thrust:.1f}')
+
+        elif key_lower == 'q':
+            # Move up - increase thrust
+            self.vertical_thrust = min(self.max_thrust,
+                                       self.vertical_thrust + self.thrust_increment)
+            self.get_logger().info(f'Moving up - Thrust: {self.vertical_thrust:.1f}')
+
+        elif key_lower == 'e':
+            # Move down - decrease thrust (negative values)
+            self.vertical_thrust = max(self.min_thrust,
+                                       self.vertical_thrust - self.thrust_increment)
+            self.get_logger().info(f'Moving down - Thrust: {self.vertical_thrust:.1f}')
+
+        elif key_lower == 'x':
+            # Stop all thrusters
+            self.vertical_thrust = 0.0
+            self.forward_thrust = 0.0
+            self.rotation_thrust = 0.0
+            self.get_logger().info('Stopping all thrusters')
+
+        elif key_lower == 'z':
+            # Quit
+            self.get_logger().info('Quitting...')
+            self.running = False
+            rclpy.shutdown()
+
+        # Update thruster speeds
+        # Corner thrusters (0, 1, 2, 3) for horizontal movement
+
+        if self.forward_thrust != 0.0:
+            # Forward/backward movement - thrusters 0 and 2
+            self.thruster_speeds[0] = self.forward_thrust
+            self.thruster_speeds[1] = 0.0
+            self.thruster_speeds[2] = self.forward_thrust
+            self.thruster_speeds[3] = 0.0
+        elif self.rotation_thrust != 0.0:
+            # Rotation movement - differential thrust on corners
+            self.thruster_speeds[0] = self.rotation_thrust
+            self.thruster_speeds[1] = -self.rotation_thrust
+            self.thruster_speeds[2] = -self.rotation_thrust
+            self.thruster_speeds[3] = self.rotation_thrust
+        else:
+            # No horizontal movement
+            self.thruster_speeds[0] = 0.0
+            self.thruster_speeds[1] = 0.0
+            self.thruster_speeds[2] = 0.0
+            self.thruster_speeds[3] = 0.0
+
+        # Vertical thrusters (4, 5, 6, 7) for up/down movement
+        for i in range(4, 8):  # Thrusters 4, 5, 6, 7
+            self.thruster_speeds[i] = self.vertical_thrust
+
+    def timer_callback(self):
+        msg = Float64MultiArray()
+        msg.data = self.thruster_speeds
+        self.publisher_.publish(msg)
+        # Only log when thrust values change to reduce spam
+        if any(speed != 0.0 for speed in self.thruster_speeds):
+            self.get_logger().info(
+                f'Thruster speeds: {[f"{speed:.1f}" for speed in self.thruster_speeds]}')
+
+
+def main(args=None):
+    rclpy.init(args=args)
+
+    thruster_teleop = None
+    try:
+        thruster_teleop = ThrusterTeleOp()
+        rclpy.spin(thruster_teleop)
+    except KeyboardInterrupt:
+        print("\nShutting down...")
+    finally:
+        if thruster_teleop is not None:
+            thruster_teleop.running = False
+            thruster_teleop.destroy_node()
+        rclpy.shutdown()
+
+
+if __name__ == '__main__':
+    main()
diff --git a/simulation/hydrus_sim_ros2/launch/hydrussim.launch.py b/simulation/hydrus_sim_ros2/launch/hydrussim.launch.py
new file mode 100644
index 0000000..544f848
--- /dev/null
+++ b/simulation/hydrus_sim_ros2/launch/hydrussim.launch.py
@@ -0,0 +1,27 @@
+from launch_ros.substitutions import FindPackageShare
+from launch import LaunchDescription
+from launch.actions import IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import PathJoinSubstitution
+
+
+def generate_launch_description():
+    return LaunchDescription([
+        IncludeLaunchDescription(
+            PythonLaunchDescriptionSource([
+                PathJoinSubstitution([
+                    FindPackageShare('stonefish_ros2'),
+                    'launch',
+                    'stonefish_simulator.launch.py'
+                ])
+            ]),
+            launch_arguments={
+                'simulation_data': PathJoinSubstitution([FindPackageShare('hydrus_sim_ros2'), 'data']),
+                'scenario_desc': PathJoinSubstitution([FindPackageShare('hydrus_sim_ros2'), 'data', 'scenarios', 'hydrus_env.scn']),
+                'simulation_rate': '300.0',
+                'window_res_x': '1920',
+                'window_res_y': '1080',
+                'rendering_quality': 'high'
+            }.items()
+        )
+    ])
diff --git a/simulation/hydrus_sim_ros2/package.xml b/simulation/hydrus_sim_ros2/package.xml
new file mode 100644
index 0000000..e9a500f
--- /dev/null
+++ b/simulation/hydrus_sim_ros2/package.xml
@@ -0,0 +1,21 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>hydrus_sim_ros2</name>
+  <version>0.0.0</version>
+  <description>Package to simulate the Hydrus AUV</description>
+  <maintainer email="edyancruz@outlook.com">Edyan Crtuz</maintainer>
+  <license>WTFPL</license>
+
+  <test_depend>ament_copyright</test_depend>
+  <test_depend>ament_flake8</test_depend>
+  <test_depend>ament_pep257</test_depend>
+  <test_depend>python3-pytest</test_depend>
+  <exec_depend>ros2launch</exec_depend>
+  <exec_depend>rclpy</exec_depend>
+  <exec_depend>std_msgs</exec_depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>
diff --git a/simulation/hydrus_sim_ros2/resource/hydrus_sim_ros2 b/simulation/hydrus_sim_ros2/resource/hydrus_sim_ros2
new file mode 100644
index 0000000..e69de29
diff --git a/simulation/hydrus_sim_ros2/setup.cfg b/simulation/hydrus_sim_ros2/setup.cfg
new file mode 100644
index 0000000..3d2ceac
--- /dev/null
+++ b/simulation/hydrus_sim_ros2/setup.cfg
@@ -0,0 +1,4 @@
+[develop]
+script_dir=$base/lib/hydrus_sim_ros2
+[install]
+install_scripts=$base/lib/hydrus_sim_ros2
\ No newline at end of file
diff --git a/simulation/hydrus_sim_ros2/setup.py b/simulation/hydrus_sim_ros2/setup.py
new file mode 100644
index 0000000..42b612f
--- /dev/null
+++ b/simulation/hydrus_sim_ros2/setup.py
@@ -0,0 +1,46 @@
+import os
+from glob import glob
+from setuptools import find_packages, setup
+
+package_name = 'hydrus_sim_ros2'
+
+def files_under(root_dir):
+    # Yield (install_dir, [file_path]) pairs for every file under root_dir
+    pairs = []
+    for path in glob(os.path.join(root_dir, '**', '*'), recursive=True):
+        if os.path.isfile(path):
+            # Preserve subfolder structure under share/<pkg>/<root_dir>/...
+            rel_dir = os.path.dirname(os.path.relpath(path, start='.'))
+            # rel_dir like "data/maps" or "launch"
+            install_dir = os.path.join('share', package_name, rel_dir)
+            pairs.append((install_dir, [path]))
+    return pairs
+
+data_files = [
+    ('share/ament_index/resource_index/packages', [os.path.join('resource', package_name)]),
+    ('share/' + package_name, ['package.xml']),
+]
+
+# Always include top-level launch files (and any nested ones)
+data_files += files_under('launch')
+# Include everything under data/ (recursively)
+data_files += files_under('data')
+
+setup(
+    name=package_name,
+    version='0.0.0',
+    packages=find_packages(exclude=['test']),
+    data_files=data_files,
+    install_requires=['setuptools'],
+    zip_safe=True,
+    maintainer='ed',
+    maintainer_email='edyancruz@outlook.com',
+    description='TODO: Package description',
+    license='TODO: License declaration',
+    tests_require=['pytest'],
+    entry_points={
+        'console_scripts': [
+            'thruster_teleop = hydrus_sim_ros2.thruster_teleop:main',
+        ],
+    },
+)
diff --git a/simulation/hydrus_sim_ros2/test/test_copyright.py b/simulation/hydrus_sim_ros2/test/test_copyright.py
new file mode 100644
index 0000000..97a3919
--- /dev/null
+++ b/simulation/hydrus_sim_ros2/test/test_copyright.py
@@ -0,0 +1,25 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_copyright.main import main
+import pytest
+
+
+# Remove the `skip` decorator once the source file(s) have a copyright header
+@pytest.mark.skip(reason='No copyright header has been placed in the generated source file.')
+@pytest.mark.copyright
+@pytest.mark.linter
+def test_copyright():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found errors'
diff --git a/simulation/hydrus_sim_ros2/test/test_flake8.py b/simulation/hydrus_sim_ros2/test/test_flake8.py
new file mode 100644
index 0000000..27ee107
--- /dev/null
+++ b/simulation/hydrus_sim_ros2/test/test_flake8.py
@@ -0,0 +1,25 @@
+# Copyright 2017 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_flake8.main import main_with_errors
+import pytest
+
+
+@pytest.mark.flake8
+@pytest.mark.linter
+def test_flake8():
+    rc, errors = main_with_errors(argv=[])
+    assert rc == 0, \
+        'Found %d code style errors / warnings:\n' % len(errors) + \
+        '\n'.join(errors)
diff --git a/simulation/hydrus_sim_ros2/test/test_pep257.py b/simulation/hydrus_sim_ros2/test/test_pep257.py
new file mode 100644
index 0000000..b234a38
--- /dev/null
+++ b/simulation/hydrus_sim_ros2/test/test_pep257.py
@@ -0,0 +1,23 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_pep257.main import main
+import pytest
+
+
+@pytest.mark.linter
+@pytest.mark.pep257
+def test_pep257():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found code style errors / warnings'