diff --git a/.github/workflows/testpr.yml b/.github/workflows/testpr.yml
index 9be3126..dbda0eb 100644
--- a/.github/workflows/testpr.yml
+++ b/.github/workflows/testpr.yml
@@ -103,7 +103,11 @@ jobs:
     - name: Delete specific outdated cache entries
       shell: bash -l {0}
       run: |
-        # rm -rf ${{ matrix.folder_cache }}/ros-lyrical-pcl-conversions* 2>/dev/null || true
+        # Rebuild the split MRPT libraries on Linux so their run exports use
+        # the glibc-2.28-compatible libudev pin.
+        if [[ "${{ matrix.platform }}" == linux-* ]]; then
+          rm -rf ${{ matrix.folder_cache }}/ros-lyrical-mrpt-* 2>/dev/null || true
+        fi
         mkdir -p ${{ matrix.folder_cache }}
         pixi run rattler-index fs ${{ matrix.folder_cache }}/.. --force
 
diff --git a/patch/dependencies.yaml b/patch/dependencies.yaml
index d712cde..f88cbfc 100644
--- a/patch/dependencies.yaml
+++ b/patch/dependencies.yaml
@@ -81,6 +81,42 @@ mrpt2:
   add_host:  ["assimp", "octomap", "tinyxml2", "libboost-devel", "jsoncpp", "gtest", "libboost-python-devel", "libdc1394", "xorg-libxcomposite", "libftdi", "ros-lyrical-octomap"]
   add_run:   ["assimp", "octomap", "tinyxml2", "libboost-devel", "jsoncpp", "gtest", "libboost-python-devel", "libdc1394", "xorg-libxcomposite", "libftdi", "ros-lyrical-octomap"]
   add_build: ["${{ cdt('libxcomposite-devel') if linux }}"]
+mola_launcher:
+  add_host: ["ros-lyrical-mrpt-libtclap"]
+  add_run: ["ros-lyrical-mrpt-libtclap"]
+mp2p_icp:
+  add_host: ["ros-lyrical-mola-common", "ros-lyrical-mola-imu-preintegration", "ros-lyrical-mrpt-libbase", "ros-lyrical-mrpt-libgui", "ros-lyrical-mrpt-libtclap", "ros-lyrical-mrpt-libmaps", "ros-lyrical-mrpt-libobs", "ros-lyrical-mrpt-libposes", "tbb"]
+  add_run: ["ros-lyrical-mola-common", "ros-lyrical-mola-imu-preintegration", "ros-lyrical-mrpt-libbase", "ros-lyrical-mrpt-libgui", "ros-lyrical-mrpt-libtclap", "ros-lyrical-mrpt-libmaps", "ros-lyrical-mrpt-libobs", "ros-lyrical-mrpt-libposes", "tbb"]
+# XSens support is disabled in these split MRPT builds. Avoid pulling libudev
+# (and a systemd build requiring a newer glibc than the ROS sysroot) into them.
+mrpt_libbase:
+  add_host: ["${{ 'libsystemd0 <258' if linux }}", "${{ 'libudev1 <258' if linux }}"]
+  remove_host: ["libudev"]
+mrpt_libhwdrivers:
+  add_host: ["${{ 'libsystemd0 <258' if linux }}", "${{ 'libudev1 <258' if linux }}"]
+  remove_host: ["libudev"]
+mrpt_libgui:
+  add_host: ["${{ 'libsystemd0 <258' if linux }}", "${{ 'libudev1 <258' if linux }}"]
+  remove_host: ["libudev"]
+mrpt_libmaps:
+  add_host: ["octomap", "${{ 'libsystemd0 <258' if linux }}", "${{ 'libudev1 <258' if linux }}"]
+  add_run: ["octomap"]
+  remove_host: ["libudev"]
+mrpt_libmath:
+  add_host: ["${{ 'libsystemd0 <258' if linux }}", "${{ 'libudev1 <258' if linux }}"]
+  remove_host: ["libudev"]
+mrpt_libobs:
+  add_host: ["${{ 'libsystemd0 <258' if linux }}", "${{ 'libudev1 <258' if linux }}"]
+  remove_host: ["libudev"]
+mrpt_libopengl:
+  add_host: ["${{ 'libsystemd0 <258' if linux }}", "${{ 'libudev1 <258' if linux }}"]
+  remove_host: ["libudev"]
+mrpt_libposes:
+  add_host: ["${{ 'libsystemd0 <258' if linux }}", "${{ 'libudev1 <258' if linux }}"]
+  remove_host: ["libudev"]
+mrpt_libslam:
+  add_host: ["${{ 'libsystemd0 <258' if linux }}", "${{ 'libudev1 <258' if linux }}"]
+  remove_host: ["libudev"]
 ros1_rosbag_storage_vendor:
   add_host: ["ros-noetic-roscpp", "ros-noetic-roslz4", "ros-noetic-rostest"]
   add_run: ["ros-noetic-roscpp", "ros-noetic-roslz4"]
diff --git a/patch/ros-lyrical-mrpt-libgui.patch b/patch/ros-lyrical-mrpt-libgui.patch
new file mode 100644
index 0000000..9e37142
--- /dev/null
+++ b/patch/ros-lyrical-mrpt-libgui.patch
@@ -0,0 +1,12 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 1249e6e..1154834 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -50,6 +50,7 @@ ExternalProject_Add(
+     # Main settings:
+     -DCMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX}
+     -DCMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE}
++    "-DCMAKE_CXX_FLAGS=${CMAKE_CXX_FLAGS}"
+     # Disabled stuff:
+     -DDISABLE_JSONCPP=ON
+     -DMRPT_INSTALL_EXAMPLES=OFF
diff --git a/patch/ros-lyrical-mrpt-libmath.patch b/patch/ros-lyrical-mrpt-libmath.patch
new file mode 100644
index 0000000..7dbe79e
--- /dev/null
+++ b/patch/ros-lyrical-mrpt-libmath.patch
@@ -0,0 +1,12 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 40a5930..61a0f4d 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -50,6 +50,7 @@ ExternalProject_Add(
+     # Main settings:
+     -DCMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX}
+     -DCMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE}
++    "-DCMAKE_CXX_FLAGS=${CMAKE_CXX_FLAGS}"
+     # Disabled stuff:
+     -DDISABLE_JSONCPP=ON
+     -DMRPT_INSTALL_EXAMPLES=OFF
diff --git a/pkg_additional_info.yaml b/pkg_additional_info.yaml
index 3c110ba..853ede7 100644
--- a/pkg_additional_info.yaml
+++ b/pkg_additional_info.yaml
@@ -100,6 +100,10 @@ magic_enum:
     max_pin: 'x.x'
 moveit_ros_visualization:
   additional_cmake_args: "-DCMAKE_WINDOWS_EXPORT_ALL_SYMBOLS=ON"
+mrpt_libgui:
+  additional_cmake_args: "-DCMAKE_CXX_FLAGS=-includecassert"
+mrpt_libmath:
+  additional_cmake_args: "-DCMAKE_CXX_FLAGS=-I$PREFIX/include/suitesparse"
 octomap:
   generate_dummy_package_with_run_deps:
     dep_name: octomap
diff --git a/vinca.yaml b/vinca.yaml
index 8bbced8..78cfe05 100644
--- a/vinca.yaml
+++ b/vinca.yaml
@@ -196,6 +196,8 @@ packages_select_by_deps:
       - camera_ros  # Depends on libcamera that is only available on linux
       - livox_ros_driver2
       - mavros
+      - mola
+      - mrpt_libtclap
       - py_binding_tools
       - swri_serial_util  # Serial communication only implemented for linux
       - v4l2_camera  # Depends on v4l that is only available on linux