diff --git a/rb_ws/src/buggy/launch/sim_2d_single.xml b/rb_ws/src/buggy/launch/sim_2d_single.xml
index e0b58465..0aed958d 100755
--- a/rb_ws/src/buggy/launch/sim_2d_single.xml
+++ b/rb_ws/src/buggy/launch/sim_2d_single.xml
@@ -1,6 +1,9 @@
 <launch>
     <node pkg="foxglove_bridge" exec="foxglove_bridge" name="foxglove" namespace="SC"/>
     <node pkg="buggy" exec="hello_world" name="hello_world" namespace="SC"/>
+    <node pkg="buggy" exec="sim-single" name="SC-sim-single" namespace="SC"/>
+    <node pkg="buggy" exec="sim-single" name="NAND-sim-single" namespace="NAND"/>
+
     <!-- <node name="foxglove" pkg="foxglove_bridge" type="foxglove_bridge" /> -->
     <!-- <node name="hello_world" pkg="buggy" type="hello_world" /> -->
 </launch>
\ No newline at end of file
diff --git a/rb_ws/src/buggy/scripts/simulator/engine.py b/rb_ws/src/buggy/scripts/simulator/engine.py
new file mode 100644
index 00000000..f91efda6
--- /dev/null
+++ b/rb_ws/src/buggy/scripts/simulator/engine.py
@@ -0,0 +1,27 @@
+#! /usr/bin/env python3
+import sys
+import time
+import rclpy
+from rclpy.node import Node
+
+class Simulator(Node):
+    # simulator constants:
+
+    def __init__(self):
+        if (self.get_namespace() == "SC"):
+            self.buggy_name = "SC"
+        if (self.get_namespace() == "NAND"):
+            self.buggy_name = "NAND"
+
+    if __name__ == "__main__":
+        rclpy.init()
+        sim = Simulator()
+        rclpy.spin(sim)
+
+        # publish initial position, then sleep
+        # so that auton stack has time to initialize
+        # before buggy moves
+        time.sleep(15.0)
+        sim.loop()
+
+
diff --git a/rb_ws/src/buggy/setup.py b/rb_ws/src/buggy/setup.py
index 4373639f..b8edf928 100644
--- a/rb_ws/src/buggy/setup.py
+++ b/rb_ws/src/buggy/setup.py
@@ -25,6 +25,8 @@
     entry_points={
         'console_scripts': [
             'hello_world = buggy.hello_world:main'
+            'sim-single = buggy.engine:main'
+
         ],
     },
 )