A veteran town police officer accused of stealing shrimp and lobster from a Madison restaurant has been fired. The Police Commission on Tuesday found Joseph Gambardella guilty of 15 departmental charges including lack of truthfulness, conduct unbecoming an officer, failure to submit reports, falsifying records, and violating the department’s code of ethics. “This whole matter is exceedingly regrettable,'’ commission Chairman Emile Geisenheimer said after the hearing. Gambardella, 48, a 15-year veteran of the department, is accused of stealing 21 packages of lobster meat and two bags of shrimp worth about $900 from Lenny & Joe’s Fish Tale restaurant last year. Gambardella did not return a phone call to his Guilford home Tuesday and his union attorney declined to comment after the hearing. According to court records, the restaurant owner installed a hidden camera in his store when he discovered he was losing inventory. The owner, after reviewing surveillance video from Oct. 9, said he recognized Gambardella entering the restaurant and carrying what appeared to be an empty bag into the cooler. Gambardella was then seen leaving the cooler with the bag appearing to be weighed down. Gambardella faces three felony counts of third-degree burglary and two misdemeanor counts of fifth-degree larceny. His next appearance in New Haven Superior Court is set for May 23.