diff --git a/astrobee/survey_manager/scripts/pidwrap.sh b/astrobee/survey_manager/scripts/pidwrap.sh
new file mode 100755
index 00000000..ff440856
--- /dev/null
+++ b/astrobee/survey_manager/scripts/pidwrap.sh
@@ -0,0 +1,68 @@
+#!/bin/bash
+
+# Copyright (c) 2023, United States Government, as represented by the
+# Administrator of the National Aeronautics and Space Administration.
+#
+# All rights reserved.
+#
+# The "ISAAC - Integrated System for Autonomous and Adaptive Caretaking
+# platform" software is 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.
+
+######################################################################
+# Usage: pidwrap.sh <command> [arg1] [arg2] ...
+
+# A wrapper that runs the specified child command with the following added features:
+# - The PID of the child is written to ${script_dir}/pid.txt when the child starts.
+# - The return code of the child is written to ${script_dir}/return_code.txt when the child exits.
+
+# The ${script_dir} variable refers to the folder containing this script. The reason we write the
+# status files to ${script_dir} is that we're assuming a controller script will create a unique
+# temp folder each time it wants to wrap a command, will copy this script to that temp folder, then
+# run the script like so:
+#   /tmp/uniq6537/pidwrap.sh cmd arg1 arg2 ...
+
+# With that context, it's logical for the script to write the status files to the same unique folder
+# so that the controller will know where to find them. This also keeps the wrapped command string
+# (which will be visible to the operator) relatively short.
+
+# Note: As an external process that doesn't own the child but can read its PID from the PID file,
+# here are some ways you could check the child status:
+# - Poll whether child is active: Check if directory '/proc/$pid` exists
+# - Wait until child finishes: Run 'tail --pid=$pid -f /dev/null'. This exits when the child exits
+#   (or immediately if the child already exited).
+# - Get more status for active child: Run 'cat /proc/$pid/status'.
+
+script_dir=$( cd -- "$( dirname -- "${BASH_SOURCE[0]}" )" &> /dev/null && pwd )
+
+# Enable bash job control (needed for fg command). It's normally disabled for non-interactive
+# scripts.
+set -m
+
+# Run child in background so we can immediately log its PID. We prefix the command with the short
+# sleep to avoid a weird edge case for commands that run very quickly, like if you use 'true' and
+# 'false' as test commands -- it appears that bash isn't fast enough to put them in the background
+# and foreground before they exit, which breaks the logic in the rest of the script.
+echo -n "pidwrap: running "
+(sleep 0.05 && exec "$@") &
+pid=$!
+echo $pid > "${script_dir}/pid.txt"
+
+# Foregrounding the child here has two effects: (1) It gives full control of the interactive
+# terminal back to the child, which is key because the child might be a command shell. (2) It makes
+# the child the current job again such that when it exits, $? is set to its return code.
+fg
+return_code=$?
+echo $return_code > "${script_dir}/return_code.txt"
+echo "pidwrap: return code $return_code"
+
+exit $return_code
diff --git a/astrobee/survey_manager/scripts/tmux_inject.py b/astrobee/survey_manager/scripts/tmux_inject.py
new file mode 100755
index 00000000..4b92c8e9
--- /dev/null
+++ b/astrobee/survey_manager/scripts/tmux_inject.py
@@ -0,0 +1,208 @@
+#!/usr/bin/env python3
+
+# Copyright (c) 2023, United States Government, as represented by the
+# Administrator of the National Aeronautics and Space Administration.
+#
+# All rights reserved.
+#
+# The "ISAAC - Integrated System for Autonomous and Adaptive Caretaking
+# platform" software is 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.
+
+"""
+A wrapper that injects the specified child command into a tmux target window, waits for the child to
+exit, and returns its exit code. This enables us to run a command with a terminal interface
+automatically from within a ROS service while retaining the option for an operator to use that
+terminal interface later by attaching to the relevant tmux session.
+
+Example usage:
+In terminal 1: tmux_inject.py -s 1 -w 5 -- ipython3 --no-banner  # Inject command in tmux window
+In terminal 2: tmux attach -s 1  # Then change to window 5 to interact with ipython3; exit ipython3
+In terminal 1: echo $?  # tmux_inject.py exits after ipython3 exits. Echo return code of ipython3.
+
+Note that we used the '--' separator to ensure that tmux_inject.py doesn't try to capture/interpret
+flags after that point that are intended for the child command.
+
+Behavior details:
+
+- Caveat: If targeting multiple tmux_inject.py commands at the same tmux window, you must ensure
+  each command completes before running the next command. (When two commands try to take over the
+  same terminal, you just get a mess.)
+
+- The targeted tmux session (-s) and window (-w) are created if they don't already exist.
+
+- It's a bit tricky to propagate the return code from the child command because its parent process
+  is the shell running in the tmux window, not tmux_inject.py. To make this work, when we inject the
+  specified command into the tmux window, we wrap it in the pidwrap.sh script, which exposes its pid
+  and return code.
+
+- The tmux_inject.py script will try to kill the child if it is forced to exit while the child is
+  still running. (This doesn't happen automatically because the child's parent process is the tmux
+  window shell.)
+"""
+
+import argparse
+import logging
+import os
+import pathlib
+import re
+import shlex
+import shutil
+import signal
+import subprocess
+import sys
+import tempfile
+import time
+from typing import List
+
+THIS_DIR = pathlib.Path(__file__).resolve().parent
+WINDOW_EXISTED_REGEX = re.compile(r"^create window failed: index \d+ in use\n$")
+
+
+class TmuxTimeoutError(RuntimeError):
+    """
+    Represents a timeout exception raised from tmux_inject.py.
+    """
+
+
+def run(
+    args: List[str], capture_output: bool = False, check: bool = False
+) -> subprocess.CompletedProcess:
+    """
+    Wrapper for subprocess.run() that supplies default encoding and logs each command.
+    """
+    logging.info("+ %s", shlex.join(args))
+    return subprocess.run(
+        args, capture_output=capture_output, encoding="utf-8", check=check
+    )
+
+
+def wait_until_path_exists(
+    path: pathlib.Path, timeout_seconds: float, check_period_seconds: float = 0.1
+) -> None:
+    """
+    Wait until `path` exists for up to `timeout_seconds`. Poll for existence every
+    'check_period_seconds`. Raise TmuxTimeoutError on timeout.
+    """
+    start_time = time.time()
+    while True:
+        if path.exists():
+            return
+        elapsed_time = time.time() - start_time
+        if elapsed_time > timeout_seconds:
+            raise TmuxTimeoutError(
+                f"wait_until_path_exists(): File {path} does not exist after timeout of {timeout_seconds} seconds"
+            )
+        time.sleep(check_period_seconds)
+
+
+def tmux_inject(session: str, window: str, command_args: List[str]) -> None:
+    """
+    The main driver function.
+    """
+    proc = run(
+        ["tmux", "new-session", "-d", "-s", session], capture_output=True, check=False
+    )
+    session_existed = "duplicate session:" in proc.stderr
+    if session_existed:
+        logging.info("[Target session already existed, continuing]")
+    if proc.returncode != 0 and not session_existed:
+        logging.warning("WARNING: tmux new-session: %s", proc.stderr)
+
+    proc = run(
+        ["tmux", "new-window", "-d", "-t", f"{session}:{window}"],
+        capture_output=True,
+        check=False,
+    )
+    window_existed = bool(WINDOW_EXISTED_REGEX.search(proc.stderr))
+    if window_existed:
+        logging.info("[Target window already existed, continuing]")
+    if proc.returncode != 0 and not window_existed:
+        logging.warning("WARNING: tmux new-window: %s", proc.stderr)
+
+    # Create unique temp dir and copy pidwrap.sh into it
+    pidwrap_src_path = THIS_DIR / "pidwrap.sh"
+    temp_dir = pathlib.Path(tempfile.mkdtemp(prefix="tmux_inject_"))
+    pidwrap_dst_path = temp_dir / "pidwrap.sh"
+    shutil.copy(pidwrap_src_path, pidwrap_dst_path)
+
+    shell_cmd = shlex.join([str(pidwrap_dst_path)] + command_args)
+    logging.info("Starting child command in tmux window.")
+    run(
+        ["tmux", "send-keys", "-t", f"{session}:{window}", shell_cmd, "Enter"],
+        check=True,
+    )
+
+    pid_path = temp_dir / "pid.txt"
+    wait_until_path_exists(pid_path, timeout_seconds=1.0)
+    pid = int(pid_path.read_text(encoding="utf-8"))
+    try:
+        logging.info("Child has PID %s. Waiting for child to exit.", pid)
+        run(["tail", "-f", f"--pid={pid}", "/dev/null"], check=True)
+    finally:
+        # This branch runs every time but really exists for the case that the run() command above
+        # exits before the child process finished. (Like if the tail command or this script received
+        # a signal, perhaps user typed Ctrl-C.)
+        pid_status_path = pathlib.Path(f"/proc/{pid}")
+        if pid_status_path.is_dir():
+            logging.warning(
+                "%s",
+                "\nEarly exit while child may still be running. Trying to kill child.",
+            )
+            logging.info("+ kill -TERM %s", pid)
+            os.kill(pid, signal.SIGTERM)
+
+    return_code_path = temp_dir / "return_code.txt"
+    wait_until_path_exists(return_code_path, timeout_seconds=1.0)
+    return_code = int(return_code_path.read_text(encoding="utf-8"))
+    logging.info("Child exited with return code %s. Exiting.", return_code)
+    sys.exit(return_code)
+
+
+class CustomFormatter(
+    argparse.ArgumentDefaultsHelpFormatter, argparse.RawDescriptionHelpFormatter
+):
+    """
+    Custom formatter for argparse that combines formatting mixins.
+    """
+
+
+def main():
+    """
+    Parse command line arguments and call tmux_inject() main driver.
+    """
+    parser = argparse.ArgumentParser(
+        description=__doc__, formatter_class=CustomFormatter
+    )
+    parser.add_argument(
+        "-s",
+        "--session",
+        help="Tmux session name to target. See target-session in 'man tmux'.",
+        default="1",
+    )
+    parser.add_argument(
+        "-w",
+        "--window",
+        help="Tmux window to target. See target-window in 'man tmux'.",
+        default="5",
+    )
+    parser.add_argument(
+        "arg", nargs="+", help="Arguments of the command to inject into the tmux window"
+    )
+    args = parser.parse_args()
+
+    logging.basicConfig(format="%(message)s", level=logging.INFO)
+    tmux_inject(session=args.session, window=args.window, command_args=args.arg)
+
+
+if __name__ == "__main__":
+    main()