diff --git a/patch/ros-humble-lanelet2-core.patch b/patch/ros-humble-lanelet2-core.patch
new file mode 100644
index 000000000..e6938cbba
--- /dev/null
+++ b/patch/ros-humble-lanelet2-core.patch
@@ -0,0 +1,345 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 37a3107f..a8620438 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -3,6 +3,10 @@ set(MRT_PKG_VERSION 4.0.0)
+ cmake_minimum_required(VERSION 3.5.1)
+ project(lanelet2_core)
+ 
++if(WIN32 AND MSVC)
++  set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)
++endif()
++
+ ###################
+ ## Find packages ##
+ ###################
+diff --git a/include/lanelet2_core/geometry/Area.h b/include/lanelet2_core/geometry/Area.h
+index 1e2bdeca..feb1e79a 100644
+--- a/include/lanelet2_core/geometry/Area.h
++++ b/include/lanelet2_core/geometry/Area.h
+@@ -12,8 +12,8 @@ namespace geometry {
+  * @param point point to check
+  * @return true if the point is within or at the border, false otherwise
+  */
+-template <typename AreaT>
+-IfAr<AreaT, bool> inside(const AreaT& area, const BasicPoint2d& point);
++template <typename AreaT, IfAr<AreaT, int> = 0>
++bool inside(const AreaT& area, const BasicPoint2d& point);
+ 
+ /**
+  * @brief calculates an up-right 2d bounding box
+@@ -22,30 +22,30 @@ IfAr<AreaT, bool> inside(const AreaT& area, const BasicPoint2d& point);
+  *
+  * Linear on number of points.
+  */
+-template <typename AreaT>
+-IfAr<AreaT, BoundingBox2d> boundingBox2d(const AreaT& area);
++template <typename AreaT, IfAr<AreaT, int> = 0>
++BoundingBox2d boundingBox2d(const AreaT& area);
+ 
+ /**
+  * @brief calculates 3d bounding box
+  * @param area area to calculate it from.
+  * @return the bounding box
+  */
+-template <typename AreaT>
+-IfAr<AreaT, BoundingBox3d> boundingBox3d(const AreaT& area);
++template <typename AreaT, IfAr<AreaT, int> = 0>
++BoundingBox3d boundingBox3d(const AreaT& area);
+ 
+ //! test whether two areas intersect in 2d.
+-template <typename Area1T, typename Area2T>
+-IfAr<Area1T, bool> intersects2d(const Area1T& area, const Area2T& otherArea);
++template <typename Area1T, typename Area2T, IfAr<Area1T, int> = 0>
++bool intersects2d(const Area1T& area, const Area2T& otherArea);
+ 
+ //! test whether two areas overlap in 2d (common area < 0).
+ //! This is an approximation that ignores the holes of the areas!
+-template <typename AreaT>
+-IfAr<AreaT, bool> overlaps2d(const AreaT& area, const AreaT& otherArea);
++template <typename AreaT, IfAr<AreaT, int> = 0>
++bool overlaps2d(const AreaT& area, const AreaT& otherArea);
+ 
+ //! test whether two areas overlap in 3d.
+ //! This is an approximation that uses the overlap of the outer bound
+-template <typename AreaT>
+-IfAr<AreaT, bool> overlaps3d(const AreaT& area, const AreaT& otherArea, double heightTolerance);
++template <typename AreaT, IfAr<AreaT, int> = 0>
++bool overlaps3d(const AreaT& area, const AreaT& otherArea, double heightTolerance);
+ 
+ //! test whether an area and a lanelet overlap in 2d
+ //! This is an approximation that uses the overlap of the outer bound
+diff --git a/include/lanelet2_core/geometry/Lanelet.h b/include/lanelet2_core/geometry/Lanelet.h
+index f046185c..77df47e7 100644
+--- a/include/lanelet2_core/geometry/Lanelet.h
++++ b/include/lanelet2_core/geometry/Lanelet.h
+@@ -10,8 +10,8 @@ namespace geometry {
+  * @param point point to check
+  * @return true if the point is within or at the border, false otherwise
+  */
+-template <typename LaneletT>
+-IfLL<LaneletT, bool> inside(const LaneletT& lanelet, const BasicPoint2d& point);
++template <typename LaneletT, IfLL<LaneletT, int> = 0>
++bool inside(const LaneletT& lanelet, const BasicPoint2d& point);
+ 
+ /**
+  * @brief approximates length by sampling points along left bound
+@@ -68,16 +68,16 @@ double distanceToCenterline3d(const LaneletT& lanelet, const BasicPoint3d& point
+  *
+  * Linear on number of points.
+  */
+-template <typename LaneletT>
+-IfLL<LaneletT, BoundingBox2d> boundingBox2d(const LaneletT& lanelet);
++template <typename LaneletT, IfLL<LaneletT, int> = 0>
++BoundingBox2d boundingBox2d(const LaneletT& lanelet);
+ 
+ /**
+  * @brief calculates 3d bounding box
+  * @param lanelet lanelet to calculate it from.
+  * @return the bounding box
+  */
+-template <typename LaneletT>
+-IfLL<LaneletT, BoundingBox3d> boundingBox3d(const LaneletT& lanelet);
++template <typename LaneletT, IfLL<LaneletT, int> = 0>
++BoundingBox3d boundingBox3d(const LaneletT& lanelet);
+ 
+ /**
+  * @brief test whether two lanelets intersect in 2d.
+@@ -89,8 +89,8 @@ IfLL<LaneletT, BoundingBox3d> boundingBox3d(const LaneletT& lanelet);
+  * This also returns true if the two lanelets only touch each other. Use
+  * overlaps if you do not want this.
+  */
+-template <typename Lanelet1T, typename Lanelet2T>
+-IfLL<Lanelet1T, bool> intersects2d(const Lanelet1T& lanelet, const Lanelet2T& otherLanelet);
++template <typename Lanelet1T, typename Lanelet2T, IfLL<Lanelet1T, int> = 0>
++bool intersects2d(const Lanelet1T& lanelet, const Lanelet2T& otherLanelet);
+ 
+ /**
+  * @brief test whether two lanelets overlap in 2d.
+diff --git a/include/lanelet2_core/geometry/Polygon.h b/include/lanelet2_core/geometry/Polygon.h
+index 63c9a731..4a77599c 100644
+--- a/include/lanelet2_core/geometry/Polygon.h
++++ b/include/lanelet2_core/geometry/Polygon.h
+@@ -245,14 +245,14 @@ IfPoly<Polygon3dT, double> distanceToBorder3d(const Polygon3dT& poly1, const Pol
+  *
+  * @return The enclosing axis aligned bounding box of all points.
+  */
+-template <typename Polygon3dT>
+-IfPoly<Polygon3dT, BoundingBox3d> boundingBox3d(const Polygon3dT& polygon);
++template <typename Polygon3dT, IfPoly<Polygon3dT, int> = 0>
++BoundingBox3d boundingBox3d(const Polygon3dT& polygon);
+ 
+-template <typename Polygon2dT>
+-IfPoly<Polygon2dT, BoundingBox2d> boundingBox2d(const Polygon2dT& polygon);
++template <typename Polygon2dT, IfPoly<Polygon2dT, int> = 0>
++BoundingBox2d boundingBox2d(const Polygon2dT& polygon);
+ 
+-template <typename Polygon3dT>
+-IfPoly<Polygon3dT, BoundingBox3d> boundingBox3d(const Polygon3dT& polygon) {
++template <typename Polygon3dT, IfPoly<Polygon3dT, int>>
++BoundingBox3d boundingBox3d(const Polygon3dT& polygon) {
+   static_assert(traits::is3D<Polygon3dT>(), "Please call this function with a 3D type!");
+   BoundingBox3d bb;
+   for (const auto& p : polygon) {
+@@ -261,8 +261,8 @@ IfPoly<Polygon3dT, BoundingBox3d> boundingBox3d(const Polygon3dT& polygon) {
+   return bb;
+ }
+ 
+-template <typename Polygon2dT>
+-IfPoly<Polygon2dT, BoundingBox2d> boundingBox2d(const Polygon2dT& polygon) {
++template <typename Polygon2dT, IfPoly<Polygon2dT, int>>
++BoundingBox2d boundingBox2d(const Polygon2dT& polygon) {
+   static_assert(traits::is2D<Polygon2dT>(), "Please call this function with a 2D type!");
+   BoundingBox2d bb;
+   for (const auto& p : polygon) {
+diff --git a/include/lanelet2_core/geometry/impl/Area.h b/include/lanelet2_core/geometry/impl/Area.h
+index 0edece94..4be56d0b 100644
+--- a/include/lanelet2_core/geometry/impl/Area.h
++++ b/include/lanelet2_core/geometry/impl/Area.h
+@@ -16,36 +16,36 @@ struct GetGeometry<T, IfAr<T, void>> {
+ };
+ }  // namespace internal
+ 
+-template <typename AreaT>
+-IfAr<AreaT, bool> inside(const AreaT& area, const BasicPoint2d& point) {
++template <typename AreaT, IfAr<AreaT, int>>
++bool inside(const AreaT& area, const BasicPoint2d& point) {
+   return boost::geometry::covered_by(point, area.basicPolygonWithHoles2d());
+ }
+ 
+-template <typename AreaT>
+-IfAr<AreaT, BoundingBox2d> boundingBox2d(const AreaT& area) {
++template <typename AreaT, IfAr<AreaT, int>>
++BoundingBox2d boundingBox2d(const AreaT& area) {
+   return boundingBox2d(traits::to2D(area.outerBoundPolygon()));
+ }
+ 
+-template <typename AreaT>
+-IfAr<AreaT, BoundingBox3d> boundingBox3d(const AreaT& area) {
++template <typename AreaT, IfAr<AreaT, int>>
++BoundingBox3d boundingBox3d(const AreaT& area) {
+   return boundingBox3d(area.outerBoundPolygon());
+ }
+ 
+-template <typename Area1T, typename Area2T>
+-IfAr<Area1T, bool> intersects2d(const Area1T& area, const Area2T& otherArea) {
++template <typename Area1T, typename Area2T, IfAr<Area1T, int>>
++bool intersects2d(const Area1T& area, const Area2T& otherArea) {
+   if (area == otherArea) {
+     return true;
+   }
+   return intersects(area.basicPolygonWithHoles2d(), otherArea.basicPolygonWithHoles2d());
+ }
+ 
+-template <typename AreaT>
+-IfAr<AreaT, bool> overlaps2d(const AreaT& area, const AreaT& otherArea) {
++template <typename AreaT, IfAr<AreaT, int>>
++bool overlaps2d(const AreaT& area, const AreaT& otherArea) {
+   return overlaps2d(traits::to2D(area.outerBoundPolygon()), traits::to2D(otherArea.outerBoundPolygon()));
+ }
+ 
+-template <typename AreaT>
+-IfAr<AreaT, bool> overlaps3d(const AreaT& area, const AreaT& otherArea, double heightTolerance) {
++template <typename AreaT, IfAr<AreaT, int>>
++bool overlaps3d(const AreaT& area, const AreaT& otherArea, double heightTolerance) {
+   return overlaps3d(area.outerBoundPolygon(), otherArea.outerBoundPolygon(), heightTolerance);
+ }
+ 
+diff --git a/include/lanelet2_core/geometry/impl/Lanelet.h b/include/lanelet2_core/geometry/impl/Lanelet.h
+index 39a82a04..cdc4b512 100644
+--- a/include/lanelet2_core/geometry/impl/Lanelet.h
++++ b/include/lanelet2_core/geometry/impl/Lanelet.h
+@@ -21,8 +21,8 @@ struct GetGeometry<T, IfLL<T, void>> {
+ };
+ }  // namespace internal
+ 
+-template <typename LaneletT>
+-IfLL<LaneletT, bool> inside(const LaneletT& lanelet, const BasicPoint2d& point) {
++template <typename LaneletT, IfLL<LaneletT, int>>
++bool inside(const LaneletT& lanelet, const BasicPoint2d& point) {
+   return boost::geometry::covered_by(point, lanelet.polygon2d());
+ }
+ 
+@@ -36,22 +36,22 @@ double distanceToCenterline3d(const LaneletT& lanelet, const BasicPoint3d& point
+   return distance(lanelet.centerline3d(), point);
+ }
+ 
+-template <typename LaneletT>
+-IfLL<LaneletT, BoundingBox2d> boundingBox2d(const LaneletT& lanelet) {
++template <typename LaneletT, IfLL<LaneletT, int>>
++BoundingBox2d boundingBox2d(const LaneletT& lanelet) {
+   BoundingBox2d bb = boundingBox2d(lanelet.leftBound2d());
+   bb.extend(boundingBox2d(lanelet.rightBound2d()));
+   return bb;
+ }
+ 
+-template <typename LaneletT>
+-IfLL<LaneletT, BoundingBox3d> boundingBox3d(const LaneletT& lanelet) {
++template <typename LaneletT, IfLL<LaneletT, int>>
++BoundingBox3d boundingBox3d(const LaneletT& lanelet) {
+   BoundingBox3d bb = boundingBox3d(lanelet.leftBound3d());
+   bb.extend(boundingBox3d(lanelet.rightBound3d()));
+   return bb;
+ }
+ 
+-template <typename Lanelet1T, typename Lanelet2T>
+-IfLL<Lanelet1T, bool> intersects2d(const Lanelet1T& lanelet, const Lanelet2T& otherLanelet) {
++template <typename Lanelet1T, typename Lanelet2T, IfLL<Lanelet1T, int>>
++bool intersects2d(const Lanelet1T& lanelet, const Lanelet2T& otherLanelet) {
+   if (lanelet.constData() == otherLanelet.constData()) {
+     return true;
+   }
+diff --git a/include/lanelet2_core/geometry/impl/LineString.h b/include/lanelet2_core/geometry/impl/LineString.h
+index a6461cfc..990286b9 100644
+--- a/include/lanelet2_core/geometry/impl/LineString.h
++++ b/include/lanelet2_core/geometry/impl/LineString.h
+@@ -799,8 +799,9 @@ IfLS<LineString3dT, std::pair<BasicPoint3d, BasicPoint3d>> projectedPoint3d(cons
+   return internal::projectedPoint3d(traits::toHybrid(l1), traits::toHybrid(l2));
+ }
+ 
+-template <typename LineString3d1T, typename LineString3d2T>
+-IfLS2<LineString3d1T, LineString3d2T, double> distance3d(const LineString3d1T& l1, const LineString3d2T& l2) {
++template <typename LineString3d1T, typename LineString3d2T,
++          IfLS2<LineString3d1T, LineString3d2T, int> = 0>
++double distance3d(const LineString3d1T& l1, const LineString3d2T& l2) {
+   auto projPoint = internal::projectedPoint3d(traits::toHybrid(traits::to3D(l1)), traits::toHybrid(traits::to3D(l2)));
+   return (projPoint.first - projPoint.second).norm();
+ }
+diff --git a/include/lanelet2_core/primitives/Polygon.h b/include/lanelet2_core/primitives/Polygon.h
+index a458cb49..6c9dfab6 100644
+--- a/include/lanelet2_core/primitives/Polygon.h
++++ b/include/lanelet2_core/primitives/Polygon.h
+@@ -394,8 +394,9 @@ inline BasicPolygon2d to2D<BasicPolygon3d>(const BasicPolygon3d& primitive) {
+   return p2d;
+ }
+ 
+-template <typename PolygonT>
+-std::enable_if_t<traits::isPolygonT<PolygonT>(), BasicPolygon2d> toBasicPolygon2d(const PolygonT& t) {
++template <typename PolygonT,
++          std::enable_if_t<traits::isPolygonT<PolygonT>(), int> = 0>
++BasicPolygon2d toBasicPolygon2d(const PolygonT& t) {
+   return traits::to2D(t).basicPolygon();
+ }
+ 
+@@ -411,8 +412,9 @@ inline BasicPolygon2d toBasicPolygon2d<BasicPolygon3d>(const BasicPolygon3d& t)
+ 
+ inline BasicPolygon2d toBasicPolygon2d(BasicPolygon2d&& t) { return std::move(t); }
+ 
+-template <typename PolygonT>
+-std::enable_if_t<traits::isPolygonT<PolygonT>(), BasicPolygon3d> toBasicPolygon3d(const PolygonT& t) {
++template <typename PolygonT,
++          std::enable_if_t<traits::isPolygonT<PolygonT>(), int> = 0>
++BasicPolygon3d toBasicPolygon3d(const PolygonT& t) {
+   return traits::to3D(t).basicPolygon();
+ }
+ 
+diff --git a/include/lanelet2_core/utility/HybridMap.h b/include/lanelet2_core/utility/HybridMap.h
+index 9ba57a4e..85c63d0b 100644
+--- a/include/lanelet2_core/utility/HybridMap.h
++++ b/include/lanelet2_core/utility/HybridMap.h
+@@ -65,7 +65,7 @@ void replaceIterator(Vector& v, const Iterator& replace, const Iterator& by) {
+  */
+ template <typename ValueT, typename PairArrayT, PairArrayT PairArray>
+ class HybridMap {
+-  using Array = detail::ArrayView<PairArrayT, PairArray>;
++  using Array = lanelet::detail::ArrayView<PairArrayT, PairArray>;
+ 
+  public:
+   using Map = std::map<std::string, ValueT>;
+@@ -82,19 +82,19 @@ class HybridMap {
+   HybridMap() noexcept = default;
+   HybridMap(HybridMap&& rhs) noexcept : m_(std::move(rhs.m_)), v_{std::move(rhs.v_)} {
+     // move invalidates no iterators except end
+-    detail::replaceIterator(v_, rhs.m_.end(), m_.end());
++    lanelet::detail::replaceIterator(v_, rhs.m_.end(), m_.end());
+   }
+   HybridMap& operator=(HybridMap&& rhs) noexcept {
+     m_ = std::move(rhs.m_);
+     v_ = std::move(rhs.v_);
+     // move invalidates no iterators except end
+-    detail::replaceIterator(v_, rhs.m_.end(), m_.end());
++    lanelet::detail::replaceIterator(v_, rhs.m_.end(), m_.end());
+     return *this;
+   }
+-  HybridMap(const HybridMap& rhs) : m_{rhs.m_}, v_{detail::copyIterators(rhs.v_, rhs.m_, m_)} {}
++  HybridMap(const HybridMap& rhs) : m_{rhs.m_}, v_{lanelet::detail::copyIterators(rhs.v_, rhs.m_, m_)} {}
+   HybridMap& operator=(const HybridMap& rhs) {
+     m_ = rhs.m_;
+-    v_ = detail::copyIterators(rhs.v_, rhs.m_, m_);
++    v_ = lanelet::detail::copyIterators(rhs.v_, rhs.m_, m_);
+     return *this;
+   }
+   HybridMap(const std::initializer_list<std::pair<const std::string, ValueT>>& list) {
+diff --git a/src/LaneletMap.cpp b/src/LaneletMap.cpp
+index ad53b2f2..0d53f953 100644
+--- a/src/LaneletMap.cpp
++++ b/src/LaneletMap.cpp
+@@ -312,7 +312,7 @@ struct PrimitiveLayer<Point3d>::Tree {
+   using TreeNode = std::pair<BasicPoint2d, Point3d>;
+   using RTree = bgi::rtree<TreeNode, bgi::quadratic<16>>;
+   static TreeNode treeNode(const Point3d& p) { return {Point2d(p).basicPoint(), p}; }
+-  explicit Tree(const PrimitiveLayer::Map& primitives) {
++  explicit Tree(const PrimitiveLayer<Point3d>::Map& primitives) {
+     std::vector<TreeNode> nodes;
+     nodes.reserve(primitives.size());
+     std::transform(primitives.begin(), primitives.end(), std::back_inserter(nodes),
diff --git a/patch/ros-humble-lanelet2-examples.patch b/patch/ros-humble-lanelet2-examples.patch
new file mode 100644
index 000000000..b6a5e82af
--- /dev/null
+++ b/patch/ros-humble-lanelet2-examples.patch
@@ -0,0 +1,41 @@
+diff --git a/src/04_reading_and_writing/main.cpp b/src/04_reading_and_writing/main.cpp
+index a1776914..0d39f6ee 100644
+--- a/src/04_reading_and_writing/main.cpp
++++ b/src/04_reading_and_writing/main.cpp
+@@ -4,7 +4,12 @@
+ #include <lanelet2_io/io_handlers/Writer.h>
+ #include <lanelet2_projection/UTM.h>
+ 
++#ifdef _WIN32
++#include <direct.h>
++#include <io.h>
++#else
+ #include <cstdio>
++#endif
+ 
+ #pragma GCC diagnostic ignored "-Wunused-but-set-variable"
+ 
+@@ -15,12 +20,23 @@ namespace {
+ std::string exampleMapPath = std::string(PKG_DIR) + "/../lanelet2_maps/res/mapping_example.osm";
+ 
+ std::string tempfile(const std::string& name) {
++#ifdef _WIN32
++  char tmpDir[] = "C:\\tmp\\lanelet2_example_XXXXXX";
++  if (_mktemp_s(tmpDir, sizeof(tmpDir)) != 0) {
++    throw std::runtime_error("Failed to create a unique temporary directory name");
++  }
++  if (_mkdir(tmpDir) != 0) {
++    throw std::runtime_error("Failed to create temporary directory");
++  }
++  return std::string(tmpDir) + '\\' + name;
++#else
+   char tmpDir[] = "/tmp/lanelet2_example_XXXXXX";
+   auto* file = mkdtemp(tmpDir);
+   if (file == nullptr) {
+     throw lanelet::IOError("Failed to open a temporary file for writing");
+   }
+   return std::string(file) + '/' + name;
++#endif
+ }
+ }  // namespace
+ 
diff --git a/patch/ros-humble-lanelet2-io.patch b/patch/ros-humble-lanelet2-io.patch
new file mode 100644
index 000000000..cf2a08afd
--- /dev/null
+++ b/patch/ros-humble-lanelet2-io.patch
@@ -0,0 +1,26 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index e4828bf4..1ea63296 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -3,6 +3,10 @@ set(MRT_PKG_VERSION 4.0.0)
+ cmake_minimum_required(VERSION 3.5.1)
+ project(lanelet2_io)
+ 
++if(WIN32 AND MSVC)
++  set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)
++endif()
++
+ ###################
+ ## Find packages ##
+ ###################
+@@ -52,6 +56,10 @@ mrt_add_library(${PROJECT_NAME}
+     SOURCES ${PROJECT_SOURCE_FILES_SRC}
+     )
+ 
++target_compile_definitions(${PROJECT_NAME}
++    PUBLIC "$<$<CXX_COMPILER_ID:MSVC>:_USE_MATH_DEFINES>"
++    )
++
+ #############
+ ## Install ##
+ #############
diff --git a/patch/ros-humble-lanelet2-matching.patch b/patch/ros-humble-lanelet2-matching.patch
new file mode 100644
index 000000000..3b28113c4
--- /dev/null
+++ b/patch/ros-humble-lanelet2-matching.patch
@@ -0,0 +1,26 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 54c5dcee..ad73dd2f 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -3,6 +3,10 @@ set(MRT_PKG_VERSION 4.0.0)
+ cmake_minimum_required(VERSION 3.5.1)
+ project(lanelet2_matching)
+ 
++if(WIN32 AND MSVC)
++  set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)
++endif()
++
+ ###################
+ ## Find packages ##
+ ###################
+@@ -52,6 +56,10 @@ mrt_add_library(${PROJECT_NAME}
+     SOURCES ${PROJECT_SOURCE_FILES_SRC}
+     )
+ 
++target_compile_definitions(${PROJECT_NAME}
++    PUBLIC "$<$<CXX_COMPILER_ID:MSVC>:_USE_MATH_DEFINES>"
++    )
++
+ #############
+ ## Install ##
+ #############
diff --git a/patch/ros-humble-lanelet2-projection.patch b/patch/ros-humble-lanelet2-projection.patch
new file mode 100644
index 000000000..2e299d0c3
--- /dev/null
+++ b/patch/ros-humble-lanelet2-projection.patch
@@ -0,0 +1,15 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 648ff82a..c3a3393d 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -3,6 +3,10 @@ set(MRT_PKG_VERSION 4.0.0)
+ cmake_minimum_required(VERSION 3.5.1)
+ project(lanelet2_projection)
+ 
++if(WIN32 AND MSVC)
++  set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)
++endif()
++
+ ###################
+ ## Find packages ##
+ ###################
diff --git a/patch/ros-humble-lanelet2-python.patch b/patch/ros-humble-lanelet2-python.patch
new file mode 100644
index 000000000..c3a792e31
--- /dev/null
+++ b/patch/ros-humble-lanelet2-python.patch
@@ -0,0 +1,15 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 00e06d76..b5c9bba9 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -52,6 +52,10 @@ mrt_add_library(${PROJECT_NAME}
+     SOURCES ${PROJECT_SOURCE_FILES_SRC}
+     )
+ 
++target_compile_options(${PROJECT_NAME} INTERFACE
++  $<$<CXX_COMPILER_ID:MSVC>:/bigobj>
++)
++
+ #############
+ ## Install ##
+ #############
diff --git a/patch/ros-humble-lanelet2-routing.patch b/patch/ros-humble-lanelet2-routing.patch
new file mode 100644
index 000000000..97835e5b7
--- /dev/null
+++ b/patch/ros-humble-lanelet2-routing.patch
@@ -0,0 +1,31 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index a1f08032..2b3291c3 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -3,6 +3,10 @@ set(MRT_PKG_VERSION 4.0.0)
+ cmake_minimum_required(VERSION 3.5.1)
+ project(lanelet2_routing)
+ 
++if(WIN32 AND MSVC)
++  set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)
++endif()
++
+ ###################
+ ## Find packages ##
+ ###################
+diff --git a/src/RouteBuilder.cpp b/src/RouteBuilder.cpp
+index 9eee0943..4ad61cbc 100644
+--- a/src/RouteBuilder.cpp
++++ b/src/RouteBuilder.cpp
+@@ -237,9 +237,9 @@ class PathsOutOfRouteFinder {
+       constexpr auto Adjacent =
+           RelationType::Left | RelationType::Right | RelationType::AdjacentLeft | RelationType::AdjacentRight;
+       return std::any_of(inEdges.first, inEdges.second,
+-                         [&](auto e) { return hasRelation<Adjacent>(g, e) && has(*llts_, boost::source(e, g)); }) ||
++                         [&](auto e) { return hasRelation<RelationType::Left | RelationType::Right | RelationType::AdjacentLeft | RelationType::AdjacentRight>(g, e) && has(*llts_, boost::source(e, g)); }) ||
+              std::any_of(outEdges.first, outEdges.second,
+-                         [&](auto e) { return hasRelation<Adjacent>(g, e) && has(*llts_, boost::target(e, g)); });
++                         [&](auto e) { return hasRelation<RelationType::Left | RelationType::Right | RelationType::AdjacentLeft | RelationType::AdjacentRight>(g, e) && has(*llts_, boost::target(e, g)); });
+     };
+     return std::all_of(path.begin(), path.end(), isAdjacentToRoute);
+   }
diff --git a/patch/ros-humble-lanelet2-traffic-rules.patch b/patch/ros-humble-lanelet2-traffic-rules.patch
new file mode 100644
index 000000000..70bfc502c
--- /dev/null
+++ b/patch/ros-humble-lanelet2-traffic-rules.patch
@@ -0,0 +1,15 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 283286e6..a875a4a5 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -3,6 +3,10 @@ set(MRT_PKG_VERSION 4.0.0)
+ cmake_minimum_required(VERSION 3.5.1)
+ project(lanelet2_traffic_rules)
+ 
++if(WIN32 AND MSVC)
++  set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)
++endif()
++
+ ###################
+ ## Find packages ##
+ ###################
diff --git a/patch/ros-humble-lanelet2-validation.patch b/patch/ros-humble-lanelet2-validation.patch
new file mode 100644
index 000000000..05dd06655
--- /dev/null
+++ b/patch/ros-humble-lanelet2-validation.patch
@@ -0,0 +1,15 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 6eb87afe..277437ae 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -3,6 +3,10 @@ set(MRT_PKG_VERSION 4.0.0)
+ cmake_minimum_required(VERSION 3.5.1)
+ project(lanelet2_validation)
+ 
++if(WIN32 AND MSVC)
++  set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)
++endif()
++
+ ###################
+ ## Find packages ##
+ ###################
diff --git a/patch/ros-humble-mrt-cmake-modules.patch b/patch/ros-humble-mrt-cmake-modules.patch
index f29ad889a..ea30f88bd 100644
--- a/patch/ros-humble-mrt-cmake-modules.patch
+++ b/patch/ros-humble-mrt-cmake-modules.patch
@@ -1,3 +1,16 @@
+diff --git a/cmake/Modules/FindBoostPython.cmake b/cmake/Modules/FindBoostPython.cmake
+index 409cfaf..a3d9984 100644
+--- a/cmake/Modules/FindBoostPython.cmake
++++ b/cmake/Modules/FindBoostPython.cmake
+@@ -8,7 +8,7 @@
+ if(PYTHON_VERSION)
+     set(_python_version ${PYTHON_VERSION})
+ else()
+-    set(_python_version 2.7)
++    set(_python_version 3)
+ endif()
+ if(_python_version VERSION_EQUAL 3 AND CMAKE_VERSION VERSION_GREATER 3.15)
+     # we also need the subversion
 diff --git a/CMakeLists.txt b/CMakeLists.txt
 index aa99d8d..8327d4e 100644
 --- a/CMakeLists.txt
diff --git a/pixi.lock b/pixi.lock
index 76e973fe8..9fed863d4 100644
--- a/pixi.lock
+++ b/pixi.lock
@@ -63,7 +63,7 @@ environments:
       - conda: https://repo.prefix.dev/conda-forge/noarch/requests-2.32.3-pyhd8ed1ab_1.conda
       - conda: https://repo.prefix.dev/conda-forge/noarch/requests-toolbelt-1.0.0-pyhd8ed1ab_1.conda
       - conda: https://repo.prefix.dev/conda-forge/linux-64/rpds-py-0.22.3-py311h9e33e62_0.conda
-      - conda: https://repo.prefix.dev/conda-forge/noarch/setuptools-75.7.0-pyhff2d567_0.conda
+      - conda: https://repo.prefix.dev/conda-forge/noarch/setuptools-75.8.0-pyhff2d567_0.conda
       - conda: https://repo.prefix.dev/conda-forge/noarch/six-1.17.0-pyhd8ed1ab_0.conda
       - conda: https://repo.prefix.dev/conda-forge/linux-64/tk-8.6.13-noxft_h4845f30_101.conda
       - conda: https://repo.prefix.dev/conda-forge/noarch/tqdm-4.67.1-pyhd8ed1ab_1.conda
@@ -145,7 +145,7 @@ environments:
       - conda: https://repo.prefix.dev/conda-forge/noarch/requests-2.32.3-pyhd8ed1ab_1.conda
       - conda: https://repo.prefix.dev/conda-forge/noarch/requests-toolbelt-1.0.0-pyhd8ed1ab_1.conda
       - conda: https://repo.prefix.dev/conda-forge/linux-aarch64/rpds-py-0.22.3-py311h7270cec_0.conda
-      - conda: https://repo.prefix.dev/conda-forge/noarch/setuptools-75.7.0-pyhff2d567_0.conda
+      - conda: https://repo.prefix.dev/conda-forge/noarch/setuptools-75.8.0-pyhff2d567_0.conda
       - conda: https://repo.prefix.dev/conda-forge/noarch/six-1.17.0-pyhd8ed1ab_0.conda
       - conda: https://repo.prefix.dev/conda-forge/linux-aarch64/tk-8.6.13-h194ca79_0.conda
       - conda: https://repo.prefix.dev/conda-forge/noarch/tqdm-4.67.1-pyhd8ed1ab_1.conda
@@ -217,7 +217,7 @@ environments:
       - conda: https://repo.prefix.dev/conda-forge/noarch/requests-2.32.3-pyhd8ed1ab_1.conda
       - conda: https://repo.prefix.dev/conda-forge/noarch/requests-toolbelt-1.0.0-pyhd8ed1ab_1.conda
       - conda: https://repo.prefix.dev/conda-forge/osx-64/rpds-py-0.22.3-py311h3b9c2be_0.conda
-      - conda: https://repo.prefix.dev/conda-forge/noarch/setuptools-75.7.0-pyhff2d567_0.conda
+      - conda: https://repo.prefix.dev/conda-forge/noarch/setuptools-75.8.0-pyhff2d567_0.conda
       - conda: https://repo.prefix.dev/conda-forge/noarch/six-1.17.0-pyhd8ed1ab_0.conda
       - conda: https://repo.prefix.dev/conda-forge/osx-64/tk-8.6.13-h1abcd95_1.conda
       - conda: https://repo.prefix.dev/conda-forge/noarch/tqdm-4.67.1-pyhd8ed1ab_1.conda
@@ -289,7 +289,7 @@ environments:
       - conda: https://repo.prefix.dev/conda-forge/noarch/requests-2.32.3-pyhd8ed1ab_1.conda
       - conda: https://repo.prefix.dev/conda-forge/noarch/requests-toolbelt-1.0.0-pyhd8ed1ab_1.conda
       - conda: https://repo.prefix.dev/conda-forge/osx-arm64/rpds-py-0.22.3-py311h3ff9189_0.conda
-      - conda: https://repo.prefix.dev/conda-forge/noarch/setuptools-75.7.0-pyhff2d567_0.conda
+      - conda: https://repo.prefix.dev/conda-forge/noarch/setuptools-75.8.0-pyhff2d567_0.conda
       - conda: https://repo.prefix.dev/conda-forge/noarch/six-1.17.0-pyhd8ed1ab_0.conda
       - conda: https://repo.prefix.dev/conda-forge/osx-arm64/tk-8.6.13-h5083fa2_1.conda
       - conda: https://repo.prefix.dev/conda-forge/noarch/tqdm-4.67.1-pyhd8ed1ab_1.conda
@@ -364,7 +364,7 @@ environments:
       - conda: https://repo.prefix.dev/conda-forge/noarch/requests-2.32.3-pyhd8ed1ab_1.conda
       - conda: https://repo.prefix.dev/conda-forge/noarch/requests-toolbelt-1.0.0-pyhd8ed1ab_1.conda
       - conda: https://repo.prefix.dev/conda-forge/win-64/rpds-py-0.22.3-py311h533ab2d_0.conda
-      - conda: https://repo.prefix.dev/conda-forge/noarch/setuptools-75.7.0-pyhff2d567_0.conda
+      - conda: https://repo.prefix.dev/conda-forge/noarch/setuptools-75.8.0-pyhff2d567_0.conda
       - conda: https://repo.prefix.dev/conda-forge/noarch/six-1.17.0-pyhd8ed1ab_0.conda
       - conda: https://repo.prefix.dev/conda-forge/win-64/tk-8.6.13-h5226925_1.conda
       - conda: https://repo.prefix.dev/conda-forge/noarch/tqdm-4.67.1-pyhd8ed1ab_1.conda
@@ -456,7 +456,7 @@ environments:
       - conda: https://repo.prefix.dev/conda-forge/noarch/requests-2.32.3-pyhd8ed1ab_1.conda
       - conda: https://repo.prefix.dev/conda-forge/noarch/requests-toolbelt-1.0.0-pyhd8ed1ab_1.conda
       - conda: https://repo.prefix.dev/conda-forge/linux-64/rpds-py-0.22.3-py311h9e33e62_0.conda
-      - conda: https://repo.prefix.dev/conda-forge/noarch/setuptools-75.7.0-pyhff2d567_0.conda
+      - conda: https://repo.prefix.dev/conda-forge/noarch/setuptools-75.8.0-pyhff2d567_0.conda
       - conda: https://repo.prefix.dev/conda-forge/noarch/six-1.17.0-pyhd8ed1ab_0.conda
       - conda: https://repo.prefix.dev/conda-forge/linux-64/tk-8.6.13-noxft_h4845f30_101.conda
       - conda: https://repo.prefix.dev/conda-forge/noarch/tqdm-4.67.1-pyhd8ed1ab_1.conda
@@ -523,7 +523,7 @@ environments:
       - conda: https://repo.prefix.dev/conda-forge/noarch/requests-2.32.3-pyhd8ed1ab_1.conda
       - conda: https://repo.prefix.dev/conda-forge/noarch/requests-toolbelt-1.0.0-pyhd8ed1ab_1.conda
       - conda: https://repo.prefix.dev/conda-forge/linux-aarch64/rpds-py-0.22.3-py311h7270cec_0.conda
-      - conda: https://repo.prefix.dev/conda-forge/noarch/setuptools-75.7.0-pyhff2d567_0.conda
+      - conda: https://repo.prefix.dev/conda-forge/noarch/setuptools-75.8.0-pyhff2d567_0.conda
       - conda: https://repo.prefix.dev/conda-forge/noarch/six-1.17.0-pyhd8ed1ab_0.conda
       - conda: https://repo.prefix.dev/conda-forge/linux-aarch64/tk-8.6.13-h194ca79_0.conda
       - conda: https://repo.prefix.dev/conda-forge/noarch/tqdm-4.67.1-pyhd8ed1ab_1.conda
@@ -580,7 +580,7 @@ environments:
       - conda: https://repo.prefix.dev/conda-forge/noarch/requests-2.32.3-pyhd8ed1ab_1.conda
       - conda: https://repo.prefix.dev/conda-forge/noarch/requests-toolbelt-1.0.0-pyhd8ed1ab_1.conda
       - conda: https://repo.prefix.dev/conda-forge/osx-64/rpds-py-0.22.3-py311h3b9c2be_0.conda
-      - conda: https://repo.prefix.dev/conda-forge/noarch/setuptools-75.7.0-pyhff2d567_0.conda
+      - conda: https://repo.prefix.dev/conda-forge/noarch/setuptools-75.8.0-pyhff2d567_0.conda
       - conda: https://repo.prefix.dev/conda-forge/noarch/six-1.17.0-pyhd8ed1ab_0.conda
       - conda: https://repo.prefix.dev/conda-forge/osx-64/tk-8.6.13-h1abcd95_1.conda
       - conda: https://repo.prefix.dev/conda-forge/noarch/tqdm-4.67.1-pyhd8ed1ab_1.conda
@@ -637,7 +637,7 @@ environments:
       - conda: https://repo.prefix.dev/conda-forge/noarch/requests-2.32.3-pyhd8ed1ab_1.conda
       - conda: https://repo.prefix.dev/conda-forge/noarch/requests-toolbelt-1.0.0-pyhd8ed1ab_1.conda
       - conda: https://repo.prefix.dev/conda-forge/osx-arm64/rpds-py-0.22.3-py311h3ff9189_0.conda
-      - conda: https://repo.prefix.dev/conda-forge/noarch/setuptools-75.7.0-pyhff2d567_0.conda
+      - conda: https://repo.prefix.dev/conda-forge/noarch/setuptools-75.8.0-pyhff2d567_0.conda
       - conda: https://repo.prefix.dev/conda-forge/noarch/six-1.17.0-pyhd8ed1ab_0.conda
       - conda: https://repo.prefix.dev/conda-forge/osx-arm64/tk-8.6.13-h5083fa2_1.conda
       - conda: https://repo.prefix.dev/conda-forge/noarch/tqdm-4.67.1-pyhd8ed1ab_1.conda
@@ -697,7 +697,7 @@ environments:
       - conda: https://repo.prefix.dev/conda-forge/noarch/requests-2.32.3-pyhd8ed1ab_1.conda
       - conda: https://repo.prefix.dev/conda-forge/noarch/requests-toolbelt-1.0.0-pyhd8ed1ab_1.conda
       - conda: https://repo.prefix.dev/conda-forge/win-64/rpds-py-0.22.3-py311h533ab2d_0.conda
-      - conda: https://repo.prefix.dev/conda-forge/noarch/setuptools-75.7.0-pyhff2d567_0.conda
+      - conda: https://repo.prefix.dev/conda-forge/noarch/setuptools-75.8.0-pyhff2d567_0.conda
       - conda: https://repo.prefix.dev/conda-forge/noarch/six-1.17.0-pyhd8ed1ab_0.conda
       - conda: https://repo.prefix.dev/conda-forge/win-64/tk-8.6.13-h5226925_1.conda
       - conda: https://repo.prefix.dev/conda-forge/noarch/tqdm-4.67.1-pyhd8ed1ab_1.conda
@@ -2651,17 +2651,17 @@ packages:
   version: 0.2.12
   sha256: 4a6679521a58256a90b0d89e03992c15144c5f3858f40d7c18886023d7943db6
   requires_python: '>=3.9'
-- conda: https://repo.prefix.dev/conda-forge/noarch/setuptools-75.7.0-pyhff2d567_0.conda
-  sha256: c653155d975cecf78156423d85e754e21ed8ec747e0afe8301afab50fa088b4f
-  md5: 764aced8c122bc0f3f1d01d401536b82
+- conda: https://repo.prefix.dev/conda-forge/noarch/setuptools-75.8.0-pyhff2d567_0.conda
+  sha256: e0778e4f276e9a81b51c56f51ec22a27b4d8fc955abc0be77ad09ca9bea06bb9
+  md5: 8f28e299c11afdd79e0ec1e279dcdc52
   depends:
   - python >=3.9
   license: MIT
   license_family: MIT
   purls:
   - pkg:pypi/setuptools?source=hash-mapping
-  size: 774395
-  timestamp: 1736450264351
+  size: 775598
+  timestamp: 1736512753595
 - conda: https://repo.prefix.dev/conda-forge/noarch/six-1.17.0-pyhd8ed1ab_0.conda
   sha256: 41db0180680cc67c3fa76544ffd48d6a5679d96f4b71d7498a759e94edc9a2db
   md5: a451d576819089b0d672f18768be0f65
diff --git a/pixi.toml b/pixi.toml
index ece9f7a2f..c044590e6 100644
--- a/pixi.toml
+++ b/pixi.toml
@@ -33,10 +33,10 @@ vinca = { git = "https://github.com/RoboStack/vinca.git", rev = "35f09634dbd3c36
 #vinca = { path = "../vinca", editable = true }
 
 [feature.beta.tasks]
-generate-recipes = { cmd = "vinca -m", depends_on = ["rename-file"] }
+generate-recipes = { cmd = "vinca -m", depends-on = ["rename-file"] }
 remove-file = { cmd = "rm vinca.yaml; rm -rf recipes" }
-build_additional_recipes = { cmd = "rattler-build build --recipe-dir ./additional_recipes -m ./conda_build_config.yaml --skip-existing" }
-build = { cmd = "rattler-build build --recipe-dir ./recipes -m ./conda_build_config.yaml -c robostack-staging -c https://repo.prefix.dev/conda-forge --skip-existing", depends_on = ["build_additional_recipes", "generate-recipes"] }
+build_additional_recipes = { cmd = "rattler-build build --recipe-dir ./additional_recipes -m ./conda_build_config.yaml -c robostack-staging -c https://repo.prefix.dev/conda-forge --skip-existing" }
+build = { cmd = "rattler-build build --recipe-dir ./recipes -m ./conda_build_config.yaml -c robostack-staging -c https://repo.prefix.dev/conda-forge --skip-existing", depends-on = ["build_additional_recipes", "generate-recipes"] }
 build_one_package = { cmd = "cp ./patch/$PACKAGE.*patch ./recipes/$PACKAGE/patch/; rattler-build build --recipe ./recipes/$PACKAGE/recipe.yaml -m ./conda_build_config.yaml -c robostack-staging -c https://repo.prefix.dev/conda-forge", env = { PACKAGE = "ros-humble-ros-workspace" } }
 create_snapshot = { cmd = "vinca-snapshot -d humble -o snapshot_$(date +\"%Y-%m-%d-%H-%M-%S\").yaml" }
 
@@ -44,16 +44,16 @@ create_snapshot = { cmd = "vinca-snapshot -d humble -o snapshot_$(date +\"%Y-%m-
 beta = ["beta"]
 
 [target.linux-64.tasks]
-rename-file = { cmd = "ln -s vinca_linux_64.yaml vinca.yaml", depends_on = ["remove-file"] }
+rename-file = { cmd = "ln -s vinca_linux_64.yaml vinca.yaml", depends-on = ["remove-file"] }
 
 [target.osx-64.tasks]
-rename-file = { cmd = "ln -s vinca_osx.yaml vinca.yaml", depends_on = ["remove-file"] }
+rename-file = { cmd = "ln -s vinca_osx.yaml vinca.yaml", depends-on = ["remove-file"] }
 
 [target.osx-arm64.tasks]
-rename-file = { cmd = "ln -s vinca_osx_arm64.yaml vinca.yaml", depends_on = ["remove-file"] }
+rename-file = { cmd = "ln -s vinca_osx_arm64.yaml vinca.yaml", depends-on = ["remove-file"] }
 
 [target.linux-aarch64.tasks]
-rename-file = { cmd = "ln -s vinca_linux_aarch64.yaml vinca.yaml", depends_on = ["remove-file"] }
+rename-file = { cmd = "ln -s vinca_linux_aarch64.yaml vinca.yaml", depends-on = ["remove-file"] }
 
 [target.win-64.tasks]
-rename-file = { cmd = "cp vinca_win.yaml vinca.yaml", depends_on = ["remove-file"] }
+rename-file = { cmd = "cp vinca_win.yaml vinca.yaml", depends-on = ["remove-file"] }
diff --git a/vinca_linux_64.yaml b/vinca_linux_64.yaml
index ffbc0a21f..48b17fee5 100644
--- a/vinca_linux_64.yaml
+++ b/vinca_linux_64.yaml
@@ -170,6 +170,8 @@ packages_select_by_deps:
 
   - grid_map
 
+  - lanelet2
+
   # ----- end of package support -----
 
   # - rtabmap
@@ -307,7 +309,6 @@ packages_select_by_deps:
   # - plansys2-bt-actions
   # - plansys2-terminal
   # - nav2-system-tests
-  # - lanelet2
   # - plansys2-bringup
   # - octovis
   # - gps-umd
diff --git a/vinca_linux_aarch64.yaml b/vinca_linux_aarch64.yaml
index 941f4b946..b1b68b835 100644
--- a/vinca_linux_aarch64.yaml
+++ b/vinca_linux_aarch64.yaml
@@ -99,6 +99,8 @@ packages_select_by_deps:
 
   - ament_cmake_vendor_package # Requested in https://github.com/RoboStack/ros-humble/pull/210
 
+  - lanelet2
+
 
   # Used to work, now needs fixes
   # - rtabmap
@@ -144,7 +146,6 @@ packages_select_by_deps:
   # - plansys2-bt-actions
   # - plansys2-terminal
   # - nav2-system-tests
-  # - lanelet2
   # - plansys2-bringup
   # - octovis
   # - gps-umd
diff --git a/vinca_osx.yaml b/vinca_osx.yaml
index 143f17746..52aeb3f50 100644
--- a/vinca_osx.yaml
+++ b/vinca_osx.yaml
@@ -121,4 +121,6 @@ packages_select_by_deps:
   # Universal Robots, requested in https://github.com/RoboStack/ros-humble/issues/234, https://github.com/RoboStack/ros-humble/issues/227 and https://github.com/RoboStack/ros-humble/issues/222 
   - ur
 
+  - lanelet2
+
 patch_dir: patch
diff --git a/vinca_osx_arm64.yaml b/vinca_osx_arm64.yaml
index f54703a33..7c8b63101 100644
--- a/vinca_osx_arm64.yaml
+++ b/vinca_osx_arm64.yaml
@@ -109,7 +109,9 @@ packages_select_by_deps:
   - rosbag2_storage_mcap
   
   # Universal Robots, requested in https://github.com/RoboStack/ros-humble/issues/234, https://github.com/RoboStack/ros-humble/issues/227 and https://github.com/RoboStack/ros-humble/issues/222 
-  - ur                  
+  - ur
+
+  - lanelet2                  
 
 
 patch_dir: patch
diff --git a/vinca_win.yaml b/vinca_win.yaml
index 56a766002..3fab04c10 100644
--- a/vinca_win.yaml
+++ b/vinca_win.yaml
@@ -235,4 +235,6 @@ packages_select_by_deps:
 
   - plotjuggler_msgs
 
+  - lanelet2
+
 patch_dir: patch