diff --git a/uuv_control/uuv_control_cascaded_pids/config/rexrov/inertial.yaml b/uuv_control/uuv_control_cascaded_pids/config/sub/inertial.yaml
similarity index 100%
rename from uuv_control/uuv_control_cascaded_pids/config/rexrov/inertial.yaml
rename to uuv_control/uuv_control_cascaded_pids/config/sub/inertial.yaml
diff --git a/uuv_control/uuv_control_cascaded_pids/config/rexrov/pos_pid_control.yaml b/uuv_control/uuv_control_cascaded_pids/config/sub/pos_pid_control.yaml
similarity index 100%
rename from uuv_control/uuv_control_cascaded_pids/config/rexrov/pos_pid_control.yaml
rename to uuv_control/uuv_control_cascaded_pids/config/sub/pos_pid_control.yaml
diff --git a/uuv_control/uuv_control_cascaded_pids/config/rexrov/vel_pid_control.yaml b/uuv_control/uuv_control_cascaded_pids/config/sub/vel_pid_control.yaml
similarity index 100%
rename from uuv_control/uuv_control_cascaded_pids/config/rexrov/vel_pid_control.yaml
rename to uuv_control/uuv_control_cascaded_pids/config/sub/vel_pid_control.yaml
diff --git a/uuv_control/uuv_control_cascaded_pids/launch/key_board_velocity.launch b/uuv_control/uuv_control_cascaded_pids/launch/key_board_velocity.launch
index 29123c28..0d6f48ea 100644
--- a/uuv_control/uuv_control_cascaded_pids/launch/key_board_velocity.launch
+++ b/uuv_control/uuv_control_cascaded_pids/launch/key_board_velocity.launch
@@ -24,10 +24,11 @@
     </node>
   </group>
 
-  <include file="$(find-pkg-share uuv_teleop)/launch/uuv_keyboard_teleop.launch">
+  <!-- This launch file doesn't work right now due to weird termios issues. Instead run the vehicle_keyboard_teleop node directly with ros2 run. -->
+  <!-- <include file="$(find-pkg-share uuv_teleop)/launch/uuv_keyboard_teleop.launch">
     <arg name="uuv_name" value="$(var uuv_name)"/>
     <arg name="output_topic" value="cmd_vel"/>
     <arg name="message_type" value="twist"/>
-  </include>
+  </include> -->
 
 </launch>
diff --git a/uuv_control/uuv_thruster_manager/config/rexrov/TAM.yaml b/uuv_control/uuv_thruster_manager/config/sub/TAM.yaml
similarity index 100%
rename from uuv_control/uuv_thruster_manager/config/rexrov/TAM.yaml
rename to uuv_control/uuv_thruster_manager/config/sub/TAM.yaml
diff --git a/uuv_control/uuv_thruster_manager/config/rexrov/thruster_manager.yaml b/uuv_control/uuv_thruster_manager/config/sub/thruster_manager.yaml
similarity index 100%
rename from uuv_control/uuv_thruster_manager/config/rexrov/thruster_manager.yaml
rename to uuv_control/uuv_thruster_manager/config/sub/thruster_manager.yaml