Are there animal companions? And if so can I create a jungle cat that could hunt down people and cut through armor?

Why not? Things like that are really up to the GM, but if she/he is ok with it, then go for it.

I'd use the familiar rules from the Navis Primer to represent something like that and just not use the psychic specific aspects.

Or the minion rules from DH and BC.

The wrangling skill should be a prerequisite at least if you want to give it specific orders, modified by the animal's disposition toward the one making the wrangling checks. I figure one wrangling check per round as a free action to give one animal one order, control one animal per every 20 INT you have. Every thirty days a character can make a wrangling check to teach one animal one command.

Just an adaptation of a number of existing rulesets off the top of my head.

In DH they have Cyber creatures, and I ruled these do not require Wrangling. Though they would only follow simply commmands, unless the quality of the Cyber Creature was changed and/or programs were purchased, which would allow the Cyber Creature to complete more complicated actions/commands.

I have always just used the 3 or 4 simple commands from the Inquisitor tabletop for Cyber critters in my games, seems to work out pretty well.

There is a Beastmaster Alternate Rank in Faith and Coin. The general gist of it is your animal companion is a creature you have tamed with Wrangling, or bonded with through cybernetics.

Lure of the Expanse has the Grynix, which can bond to you, and become like a pet/animal companion. Maybe not the most useful pet, but this isn't Pokemon, and no animal companion will be as good as another player character, but it would be a nice critter to come home to, in your quarters, and flop in your lap. It also does have its uses, if you are willing to risk it.

Druids in space...great.