diff --git a/modules/lanelet2/1.2.2/MODULE.bazel b/modules/lanelet2/1.2.2/MODULE.bazel
new file mode 100644
index 00000000000..240fe8b54e6
--- /dev/null
+++ b/modules/lanelet2/1.2.2/MODULE.bazel
@@ -0,0 +1,30 @@
+module(
+    name = "lanelet2",
+    version = "1.2.2",
+)
+
+BOOST_VERSION = "1.83.0"
+
+bazel_dep(name = "boost.config", version = BOOST_VERSION + ".bcr.1")
+bazel_dep(name = "boost.core", version = BOOST_VERSION + ".bcr.1")
+bazel_dep(name = "boost.filesystem", version = BOOST_VERSION + ".bcr.1")
+bazel_dep(name = "boost.format", version = BOOST_VERSION + ".bcr.1")
+bazel_dep(name = "boost.geometry", version = BOOST_VERSION + ".bcr.1")
+bazel_dep(name = "boost.graph", version = BOOST_VERSION + ".bcr.1")
+bazel_dep(name = "boost.iterator", version = BOOST_VERSION + ".bcr.1")
+bazel_dep(name = "boost.lexical_cast", version = BOOST_VERSION + ".bcr.1")
+bazel_dep(name = "boost.optional", version = BOOST_VERSION + ".bcr.1")
+bazel_dep(name = "boost.polygon", version = BOOST_VERSION + ".bcr.1")
+bazel_dep(name = "boost.program_options", version = BOOST_VERSION + ".bcr.1")
+bazel_dep(name = "boost.property_map", version = BOOST_VERSION + ".bcr.1")
+bazel_dep(name = "boost.serialization", version = BOOST_VERSION + ".bcr.1")
+bazel_dep(name = "boost.type_traits", version = BOOST_VERSION + ".bcr.1")
+bazel_dep(name = "boost.units", version = BOOST_VERSION)
+bazel_dep(name = "boost.variant", version = BOOST_VERSION + ".bcr.1")
+bazel_dep(name = "eigen", version = "3.4.0.bcr.1")
+bazel_dep(name = "geographiclib", version = "2.4.0.bcr.1")
+bazel_dep(name = "googletest", version = "1.15.2", repo_name = "com_google_googletest")
+bazel_dep(name = "platforms", version = "0.0.9")
+bazel_dep(name = "pugixml", version = "1.14.bcr.1")
+bazel_dep(name = "rules_cc", version = "0.1.0")
+bazel_dep(name = "rules_license", version = "1.0.0")
diff --git a/modules/lanelet2/1.2.2/overlay/BUILD.bazel b/modules/lanelet2/1.2.2/overlay/BUILD.bazel
new file mode 100644
index 00000000000..fa74dc3f489
--- /dev/null
+++ b/modules/lanelet2/1.2.2/overlay/BUILD.bazel
@@ -0,0 +1,242 @@
+"""Bazel build file for lanelet2 libraries"""
+
+load("@rules_cc//cc:defs.bzl", "cc_library", "cc_test")
+load("@rules_license//rules:license.bzl", "license")
+
+package(default_applicable_licenses = [":license"])
+
+license(
+    name = "license",
+    license_kinds = ["@rules_license//licenses/spdx:BSD-3-Clause"],
+    license_text = "LICENSE",
+)
+
+cc_library(
+    name = "lanelet2_core",
+    srcs = glob(["lanelet2_core/src/**/*.cpp"]),
+    hdrs = glob(["lanelet2_core/include/**/*.h"]),
+    copts = select({
+        "@platforms//os:windows": [],
+        "//conditions:default": [
+            "-Wno-sign-compare",
+            "-Wno-unused-function",
+            "-Wno-unused-local-typedefs",
+        ],
+    }),
+    includes = ["lanelet2_core/include"],
+    visibility = ["//visibility:public"],
+    deps = [
+        "@boost.config",
+        "@boost.core",
+        "@boost.geometry",
+        "@boost.iterator",
+        "@boost.lexical_cast",
+        "@boost.optional",
+        "@boost.polygon",
+        "@boost.type_traits",
+        "@boost.units",
+        "@boost.variant",
+        "@eigen",
+    ],
+)
+
+cc_library(
+    name = "lanelet2_io",
+    srcs = glob(["lanelet2_io/src/**/*.cpp"]),
+    hdrs = glob(["lanelet2_io/include/**/*.h"]),
+    includes = ["lanelet2_io/include"],
+    visibility = ["//visibility:public"],
+    deps = [
+        ":lanelet2_core",
+        "@boost.filesystem",
+        "@boost.format",
+        "@boost.geometry",
+        "@boost.serialization",
+        "@pugixml",
+    ],
+)
+
+filegroup(
+    name = "lanelet2_maps_osm_files",
+    srcs = glob(["lanelet2_maps/res/*.osm"]),
+)
+
+cc_library(
+    name = "lanelet2_matching",
+    srcs = glob(["lanelet2_matching/src/**/*.cpp"]),
+    hdrs = glob(["lanelet2_matching/include/**/*.h"]),
+    includes = [
+        "lanelet2_matching/include",
+        # This has to be exposed as a public include because the headers include other headers using
+        # the local path.
+        "lanelet2_matching/include/lanelet2_matching",
+    ],
+    visibility = ["//visibility:public"],
+    deps = [
+        ":lanelet2_core",
+        ":lanelet2_traffic_rules",
+        "@eigen",
+    ],
+)
+
+cc_library(
+    name = "lanelet2_projection",
+    srcs = glob(["lanelet2_projection/src/**/*.cpp"]),
+    hdrs = glob(["lanelet2_projection/include/**/*.h"]),
+    includes = ["lanelet2_projection/include"],
+    visibility = ["//visibility:public"],
+    deps = [
+        ":lanelet2_core",
+        ":lanelet2_io",
+        "@geographiclib",
+    ],
+)
+
+cc_library(
+    name = "lanelet2_routing",
+    srcs = glob(["lanelet2_routing/src/**/*.cpp"]),
+    hdrs = glob(["lanelet2_routing/include/**/*.h"]),
+    includes = ["lanelet2_routing/include"],
+    visibility = ["//visibility:public"],
+    deps = [
+        ":lanelet2_core",
+        ":lanelet2_traffic_rules",
+        "@boost.geometry",
+        "@boost.graph",
+        "@boost.property_map",
+    ],
+)
+
+cc_library(
+    name = "lanelet2_traffic_rules",
+    srcs = glob(["lanelet2_traffic_rules/src/**/*.cpp"]),
+    hdrs = glob(["lanelet2_traffic_rules/include/**/*.h"]),
+    includes = ["lanelet2_traffic_rules/include"],
+    visibility = ["//visibility:public"],
+    deps = [":lanelet2_core"],
+)
+
+cc_library(
+    name = "lanelet2_validation",
+    srcs = glob(["lanelet2_validation/src/**/*.cpp"]),
+    hdrs = glob(["lanelet2_validation/include/**/*.h"]),
+    includes = ["lanelet2_validation/include"],
+    visibility = ["//visibility:public"],
+    deps = [
+        ":lanelet2_core",
+        ":lanelet2_io",
+        ":lanelet2_projection",
+        ":lanelet2_routing",
+        ":lanelet2_traffic_rules",
+        "@boost.program_options",
+    ],
+)
+
+#################################################################################
+# Tests
+#################################################################################
+cc_test(
+    name = "lanelet2_core_test",
+    size = "small",
+    srcs = glob([
+        "lanelet2_core/test/*.cpp",
+        "lanelet2_core/test/*.h",
+    ]),
+    copts = select({
+        "@platforms//os:windows": [],
+        "//conditions:default": ["-Wno-sign-compare"],
+    }),
+    deps = [
+        ":lanelet2_core",
+        "@boost.geometry",
+        "@boost.optional",
+        "@com_google_googletest//:gtest_main",
+    ],
+)
+
+cc_test(
+    name = "lanelet2_io_test",
+    size = "small",
+    srcs = glob([
+        "lanelet2_io/test/*.cpp",
+        "lanelet2_io/test/*.h",
+    ]),
+    data = [":lanelet2_maps_osm_files"],
+    deps = [
+        ":lanelet2_core",
+        ":lanelet2_io",
+        "@bazel_tools//tools/cpp/runfiles",
+        "@boost.filesystem",
+        "@boost.serialization",
+        "@com_google_googletest//:gtest_main",
+    ],
+)
+
+cc_test(
+    name = "lanelet2_matching_test",
+    size = "small",
+    srcs = glob(["lanelet2_matching/test/*.cpp"]),
+    deps = [
+        ":lanelet2_io",
+        ":lanelet2_matching",
+        ":lanelet2_projection",
+        ":lanelet2_traffic_rules",
+        "@com_google_googletest//:gtest_main",
+    ],
+)
+
+cc_test(
+    name = "lanelet2_projection_test",
+    size = "small",
+    srcs = glob(["lanelet2_projection/test/*.cpp"]),
+    deps = [
+        ":lanelet2_projection",
+        "@com_google_googletest//:gtest_main",
+    ],
+)
+
+cc_test(
+    name = "lanelet2_routing_test",
+    size = "small",
+    srcs = glob([
+        "lanelet2_routing/test/*.cpp",
+        "lanelet2_routing/test/*.h",
+    ]),
+    # For some unknown reason, this test fails without optimization enabled.
+    copts = ["-O3"],
+    deps = [
+        ":lanelet2_core",
+        ":lanelet2_routing",
+        ":lanelet2_traffic_rules",
+        "@boost.filesystem",
+        "@boost.geometry",
+        "@boost.optional",
+        "@com_google_googletest//:gtest_main",
+    ],
+)
+
+cc_test(
+    name = "lanelet2_traffic_rules_test",
+    size = "small",
+    srcs = glob(["lanelet2_traffic_rules/test/*.cpp"]),
+    deps = [
+        ":lanelet2_core",
+        ":lanelet2_traffic_rules",
+        "@com_google_googletest//:gtest_main",
+    ],
+)
+
+cc_test(
+    name = "lanelet2_validation_test",
+    size = "small",
+    srcs = glob(["lanelet2_validation/test/*.cpp"]),
+    data = [":lanelet2_maps_osm_files"],
+    deps = [
+        ":lanelet2_core",
+        ":lanelet2_io",
+        ":lanelet2_projection",
+        ":lanelet2_validation",
+        "@bazel_tools//tools/cpp/runfiles",
+        "@com_google_googletest//:gtest_main",
+    ],
+)
diff --git a/modules/lanelet2/1.2.2/overlay/MODULE.bazel b/modules/lanelet2/1.2.2/overlay/MODULE.bazel
new file mode 120000
index 00000000000..9b599e3ad9c
--- /dev/null
+++ b/modules/lanelet2/1.2.2/overlay/MODULE.bazel
@@ -0,0 +1 @@
+../MODULE.bazel
\ No newline at end of file
diff --git a/modules/lanelet2/1.2.2/patches/bazel_test_data_paths.patch b/modules/lanelet2/1.2.2/patches/bazel_test_data_paths.patch
new file mode 100644
index 00000000000..e80276ac824
--- /dev/null
+++ b/modules/lanelet2/1.2.2/patches/bazel_test_data_paths.patch
@@ -0,0 +1,135 @@
+diff --git a/lanelet2_io/test/TestBinHandler.cpp b/lanelet2_io/test/TestBinHandler.cpp
+index c9868ab..2d13a34 100644
+--- a/lanelet2_io/test/TestBinHandler.cpp
++++ b/lanelet2_io/test/TestBinHandler.cpp
+@@ -2,11 +2,15 @@
+ #include <boost/archive/binary_oarchive.hpp>
+ #include <cstdio>
+ #include <fstream>
++#include <string>
+ 
+ #include "TestSetup.h"
+ #include "gtest/gtest.h"
+ #include "lanelet2_io/Io.h"
+ #include "lanelet2_io/io_handlers/Serialize.h"
++#include "tools/cpp/runfiles/runfiles.h"
++
++using bazel::tools::cpp::runfiles::Runfiles;
+ 
+ using namespace lanelet;
+ 
+@@ -114,8 +118,9 @@ TEST(BinHandler, explicitIO) {  // NOLINT
+ }
+ 
+ TEST(BinHandler, fullMap) {
++  std::unique_ptr<Runfiles> runfiles = test_setup::CreateRunfilesOrDie();
+   Origin origin({49, 8.4, 0});
+-  std::string filenameIn = "../../lanelet2_maps/res/mapping_example.osm";
++  std::string filenameIn = runfiles->Rlocation("lanelet2/lanelet2_maps/res/mapping_example.osm");
+   auto map = lanelet::load(filenameIn, origin);
+   auto llt = map->laneletLayer.find(44968);
+   writeAndLoad(*llt);
+diff --git a/lanelet2_io/test/TestSetup.h b/lanelet2_io/test/TestSetup.h
+index 67652af..ad02019 100644
+--- a/lanelet2_io/test/TestSetup.h
++++ b/lanelet2_io/test/TestSetup.h
+@@ -6,6 +6,9 @@
+ #include <boost/filesystem.hpp>
+ #include <fstream>
+ 
++#include "gtest/gtest.h"
++#include "tools/cpp/runfiles/runfiles.h"
++
+ namespace fs = boost::filesystem;
+ 
+ namespace lanelet {
+@@ -52,8 +55,8 @@ inline bool operator==(const PrimitiveLayer<T>& rhs, const PrimitiveLayer<T>& lh
+ }
+ 
+ template <>
+-inline bool operator==<RegulatoryElementPtr>(const PrimitiveLayer<RegulatoryElementPtr>& rhs,
+-                                             const PrimitiveLayer<RegulatoryElementPtr>& lhs) {
++inline bool operator== <RegulatoryElementPtr>(const PrimitiveLayer<RegulatoryElementPtr>& rhs,
++                                              const PrimitiveLayer<RegulatoryElementPtr>& lhs) {
+   return rhs.size() == lhs.size() && std::all_of(rhs.begin(), rhs.end(), [&lhs](auto& v1) {
+            return *v1->constData() == *(*lhs.find(v1->id()))->constData();
+          });
+@@ -121,6 +124,17 @@ inline Area setUpArea(int& num, const std::string& type = AttributeValueString::
+               AttributeMap{{AttributeNamesString::Subtype, type}}, {regelem});
+ }
+ 
++using bazel::tools::cpp::runfiles::Runfiles;
++
++inline std::unique_ptr<Runfiles> CreateRunfilesOrDie() {
++  std::string error;
++  std::unique_ptr<Runfiles> runfiles{Runfiles::Create("TestBinHandler", BAZEL_CURRENT_REPOSITORY, &error)};
++  if (runfiles == nullptr) {
++    throw std::runtime_error{"Error creating runfiles: " + error};
++  }
++  return runfiles;
++}
++
+ class Tempfile {
+  public:
+   explicit Tempfile(std::string name) {
+diff --git a/lanelet2_io/test/TestSimpleUsage.cpp b/lanelet2_io/test/TestSimpleUsage.cpp
+index 792f69d..54713da 100644
+--- a/lanelet2_io/test/TestSimpleUsage.cpp
++++ b/lanelet2_io/test/TestSimpleUsage.cpp
+@@ -1,11 +1,15 @@
+ #include "TestSetup.h"
+ #include "gtest/gtest.h"
+ #include "lanelet2_io/Io.h"
++#include "tools/cpp/runfiles/runfiles.h"
++
++using bazel::tools::cpp::runfiles::Runfiles;
+ 
+ TEST(lanelet2_io, exampleUsage) {  // NOLINT
+   using namespace lanelet;
++  std::unique_ptr<Runfiles> runfiles = lanelet::test_setup::CreateRunfilesOrDie();
+   Origin origin({49, 8.4, 0});
+-  std::string filenameIn = "../../lanelet2_maps/res/mapping_example.osm";
++  std::string filenameIn = runfiles->Rlocation("lanelet2/lanelet2_maps/res/mapping_example.osm");
+   LaneletMapPtr laneletMap = lanelet::load(filenameIn, origin);
+ 
+   lanelet::test_setup::Tempfile file("file.osm");
+diff --git a/lanelet2_validation/test/lanelet2_validation.cpp b/lanelet2_validation/test/lanelet2_validation.cpp
+index 3e30df4..6f66cd4 100644
+--- a/lanelet2_validation/test/lanelet2_validation.cpp
++++ b/lanelet2_validation/test/lanelet2_validation.cpp
+@@ -7,9 +7,23 @@
+ 
+ #include "lanelet2_validation/Cli.h"
+ #include "lanelet2_validation/Validation.h"
++#include "tools/cpp/runfiles/runfiles.h"
++
++using bazel::tools::cpp::runfiles::Runfiles;
++
++std::unique_ptr<Runfiles> CreateRunfilesOrDie() {
++  std::string error;
++  std::unique_ptr<Runfiles> runfiles{Runfiles::Create("TestBinHandler", BAZEL_CURRENT_REPOSITORY, &error)};
++  if (runfiles == nullptr) {
++    throw std::runtime_error{"Error creating runfiles: " + error};
++  }
++  return runfiles;
++}
+ 
+ TEST(TestAllValidators, onExampleMap) {  // NOLINT
+-  const char* args[] = {"validator",      "../../lanelet2_maps/res/mapping_example.osm",
++  std::unique_ptr<Runfiles> runfiles = CreateRunfilesOrDie();
++  const std::string osm_file = runfiles->Rlocation("lanelet2/lanelet2_maps/res/mapping_example.osm");
++  const char* args[] = {"validator",      osm_file.c_str(),
+                         "--participants", "vehicle",
+                         "--participants", "pedestrian",
+                         "--lat",          "49",
+@@ -32,8 +46,9 @@ TEST(Validator, pointsTooClose) {  // NOLINT
+ }
+ 
+ TEST(Validator, curvatureTooBig) {  // NOLINT
+-  std::string exampleMapPath = "../../lanelet2_maps/res/mapping_example.osm";
+   using namespace lanelet;
++  std::unique_ptr<Runfiles> runfiles = CreateRunfilesOrDie();
++  std::string exampleMapPath = runfiles->Rlocation("lanelet2/lanelet2_maps/res/mapping_example.osm");
+   projection::UtmProjector projector(Origin({49, 8.4}));
+   LaneletMapPtr map = load(exampleMapPath, projector);
+   lanelet::validation::ValidationConfig config;
diff --git a/modules/lanelet2/1.2.2/patches/bazel_test_include_paths.patch b/modules/lanelet2/1.2.2/patches/bazel_test_include_paths.patch
new file mode 100644
index 00000000000..dacbe168446
--- /dev/null
+++ b/modules/lanelet2/1.2.2/patches/bazel_test_include_paths.patch
@@ -0,0 +1,26 @@
+diff --git a/lanelet2_core/test/test_linestring.cpp b/lanelet2_core/test/test_linestring.cpp
+index b8242ee..e002787 100644
+--- a/lanelet2_core/test/test_linestring.cpp
++++ b/lanelet2_core/test/test_linestring.cpp
+@@ -5,7 +5,7 @@
+ 
+ #include "lanelet2_core/geometry/LineString.h"
+ #include "lanelet2_core/primitives/LineString.h"
+-#include "primitives/Traits.h"
++#include "lanelet2_core/primitives/Traits.h"
+ using namespace lanelet;
+ 
+ class LineStringPoints : public ::testing::Test {
+diff --git a/lanelet2_matching/test/lanelet2_matching.cpp b/lanelet2_matching/test/lanelet2_matching.cpp
+index c47194e..5b84b54 100644
+--- a/lanelet2_matching/test/lanelet2_matching.cpp
++++ b/lanelet2_matching/test/lanelet2_matching.cpp
+@@ -33,7 +33,7 @@
+ #include <lanelet2_traffic_rules/TrafficRules.h>
+ #include <lanelet2_traffic_rules/TrafficRulesFactory.h>
+ 
+-#include "LaneletMatching.h"
++#include "lanelet2_matching/LaneletMatching.h"
+ #include "gtest/gtest.h"
+ 
+ using namespace lanelet;
diff --git a/modules/lanelet2/1.2.2/presubmit.yml b/modules/lanelet2/1.2.2/presubmit.yml
new file mode 100644
index 00000000000..7a8ecae88af
--- /dev/null
+++ b/modules/lanelet2/1.2.2/presubmit.yml
@@ -0,0 +1,32 @@
+matrix:
+  platform:
+    - debian10
+    - debian11
+    # MacOS is not supported by lanelet2.
+    # - macos
+    # - macos_arm64
+    - ubuntu2004
+    - ubuntu2204
+    - ubuntu2404
+    # Windows is not supported by lanelet2.
+    # - windows
+  bazel:
+    - 7.x
+    - 8.x
+tasks:
+  unix_test:
+    platform: ${{ platform }}
+    bazel: ${{ bazel }}
+    build_flags:
+      - '--cxxopt=-std=c++17'
+      - '--host_cxxopt=-std=c++17'
+    build_targets:
+      - '@lanelet2//:lanelet2_core'
+      - '@lanelet2//:lanelet2_io'
+      - '@lanelet2//:lanelet2_matching'
+      - '@lanelet2//:lanelet2_projection'
+      - '@lanelet2//:lanelet2_routing'
+      - '@lanelet2//:lanelet2_traffic_rules'
+      - '@lanelet2//:lanelet2_validation'
+    test_targets:
+      - '@lanelet2//...'
diff --git a/modules/lanelet2/1.2.2/source.json b/modules/lanelet2/1.2.2/source.json
new file mode 100644
index 00000000000..e7c4f18856a
--- /dev/null
+++ b/modules/lanelet2/1.2.2/source.json
@@ -0,0 +1,14 @@
+{
+    "url": "https://github.com/fzi-forschungszentrum-informatik/Lanelet2/archive/refs/tags/1.2.2.tar.gz",
+    "integrity": "sha256-jSM48W6PEydBJTwrKYxKJbu6Gpqi+/zpPqr11aj+U5Y=",
+    "strip_prefix": "Lanelet2-1.2.2",
+    "patches": {
+        "bazel_test_data_paths.patch": "sha256-lRfoCSWA3FfEMYD8MWWOln4Hs6hep0h/l7lMrExFlzQ=",
+        "bazel_test_include_paths.patch": "sha256-iaAuQFKvVknHYUzSmFpsnXx5auhE1RqpXIKS9qK+C2E="
+    },
+    "overlay": {
+        "BUILD.bazel": "sha256-XP8SspStSOBTBt/Wz1FSL67NXaxGqu0H+3l3E5wvFmg=",
+        "MODULE.bazel": "sha256-zPCZnuediXqru+a8IRQ1TYsLRw0km2QZ69714zSJqvA="
+    },
+    "patch_strip": 1
+}
diff --git a/modules/lanelet2/metadata.json b/modules/lanelet2/metadata.json
new file mode 100644
index 00000000000..ff1efd9931d
--- /dev/null
+++ b/modules/lanelet2/metadata.json
@@ -0,0 +1,17 @@
+{
+    "homepage": "https://github.com/fzi-forschungszentrum-informatik/Lanelet2",
+    "maintainers": [
+        {
+            "email": "kgreenek@gmail.com",
+            "github": "kgreenek",
+            "name": "Kevin Greene"
+        }
+    ],
+    "repository": [
+        "github:fzi-forschungszentrum-informatik/Lanelet2"
+    ],
+    "versions": [
+        "1.2.2"
+    ],
+    "yanked_versions": {}
+}