diff --git a/nav2_loopback_sim/README.md b/nav2_loopback_sim/README.md
index 1e1aec6569..7339904090 100644
--- a/nav2_loopback_sim/README.md
+++ b/nav2_loopback_sim/README.md
@@ -38,6 +38,7 @@ ros2 launch nav2_bringup tb4_loopback_simulation.launch.py  # Nav2 integrated na
 - `odom_frame_id`: The odom frame to use (default `odom`)
 - `map_frame_id`: The map frame to use (default `map`)
 - `scan_frame_id`: The can frame to use to publish a scan to keep the collision monitor fed and happy (default `base_scan` for TB3, `rplidar_link` for TB4)
+- `enable_stamped_cmd_vel`: Whether cmd_vel is stamped or unstamped (i.e. Twist or TwistStamped). Default `false` for `Twist`.
 
 ### Topics
 
diff --git a/nav2_loopback_sim/nav2_loopback_sim/loopback_simulator.py b/nav2_loopback_sim/nav2_loopback_sim/loopback_simulator.py
index 885a6725f5..7902affb13 100644
--- a/nav2_loopback_sim/nav2_loopback_sim/loopback_simulator.py
+++ b/nav2_loopback_sim/nav2_loopback_sim/loopback_simulator.py
@@ -15,7 +15,7 @@
 
 import math
 
-from geometry_msgs.msg import PoseWithCovarianceStamped, Twist
+from geometry_msgs.msg import PoseWithCovarianceStamped, Twist, TwistStamped
 from geometry_msgs.msg import Quaternion, TransformStamped, Vector3
 from nav2_simple_commander.line_iterator import LineIterator
 from nav_msgs.msg import Odometry
@@ -73,6 +73,9 @@ def __init__(self):
         self.declare_parameter('scan_frame_id', 'base_scan')
         self.scan_frame_id = self.get_parameter('scan_frame_id').get_parameter_value().string_value
 
+        self.declare_parameter('enable_stamped_cmd_vel', False)
+        use_stamped = self.get_parameter('enable_stamped_cmd_vel').get_parameter_value().bool_value
+
         self.declare_parameter('scan_publish_dur', 0.1)
         self.scan_publish_dur = self.get_parameter(
             'scan_publish_dur').get_parameter_value().double_value
@@ -93,9 +96,14 @@ def __init__(self):
         self.initial_pose_sub = self.create_subscription(
             PoseWithCovarianceStamped,
             'initialpose', self.initialPoseCallback, 10)
-        self.cmd_vel_sub = self.create_subscription(
-            Twist,
-            'cmd_vel', self.cmdVelCallback, 10)
+        if not use_stamped:
+            self.cmd_vel_sub = self.create_subscription(
+                Twist,
+                'cmd_vel', self.cmdVelCallback, 10)
+        else:
+            self.cmd_vel_sub = self.create_subscription(
+                TwistStamped,
+                'cmd_vel', self.cmdVelStampedCallback, 10)
         self.odom_pub = self.create_publisher(Odometry, 'odom', 10)
 
         sensor_qos = QoSProfile(
@@ -139,6 +147,14 @@ def cmdVelCallback(self, msg):
         self.curr_cmd_vel = msg
         self.curr_cmd_vel_time = self.get_clock().now()
 
+    def cmdVelStampedCallback(self, msg):
+        self.debug('Received cmd_vel')
+        if self.initial_pose is None:
+            # Don't consider velocities before the initial pose is set
+            return
+        self.curr_cmd_vel = msg.twist
+        self.curr_cmd_vel_time = rclpy.time.Time.from_msg(msg.header.stamp)
+
     def initialPoseCallback(self, msg):
         self.info('Received initial pose!')
         if self.initial_pose is None: