diff --git a/shared/patch/ros2-rko-lio.patch b/shared/patch/ros2-rko-lio.patch
new file mode 100644
index 000000000..4e7fb1cb9
--- /dev/null
+++ b/shared/patch/ros2-rko-lio.patch
@@ -0,0 +1,14 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index cfef6f3..f227839 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -29,7 +29,8 @@ option(RKO_LIO_FETCH_CONTENT_DEPS "Fetch dependencies via FetchContent instead o
+ include(cmake/dependencies.cmake)
+ include(cmake/compat_target_sources.cmake)
+ 
+-find_package(Eigen3 3.4 REQUIRED CONFIG)
++# no minimum version: Eigen 5 (conda-forge) rejects a 3.x request (SameMajorVersion)
++find_package(Eigen3 REQUIRED CONFIG)
+ find_package(Sophus REQUIRED CONFIG)
+ find_package(TBB REQUIRED CONFIG)
+ find_package(tsl-robin-map REQUIRED CONFIG)
diff --git a/shared/robostack.yaml b/shared/robostack.yaml
index c2880a076..c4d201d41 100644
--- a/shared/robostack.yaml
+++ b/shared/robostack.yaml
@@ -1212,6 +1212,8 @@ rapidjson-dev:
   robostack: [rapidjson]
 rmw_opensplice_cpp:
   robostack: []
+robin-map-dev:
+  robostack: [tsl_robin_map]
 roboticstoolbox-python:
   robostack: [roboticstoolbox-python]
 rsync:
diff --git a/shared/tests/ros2-rko-lio.yaml b/shared/tests/ros2-rko-lio.yaml
new file mode 100644
index 000000000..1544cae7b
--- /dev/null
+++ b/shared/tests/ros2-rko-lio.yaml
@@ -0,0 +1,6 @@
+tests:
+  # Smoke test: `rko_lio/online_node` (the odometry node), given its required parameters, starts (loads its libraries and the RMW) and is still running after 5 s. It's stopped (killed if SIGTERM doesn't end it) before the test exits, or the test runner waits for it.
+  - if: unix
+    then:
+      script:
+        - python -c "import os, subprocess, sys, time; p = subprocess.Popen([os.path.join(os.environ['PREFIX'], 'lib', 'rko_lio', 'online_node'), '--ros-args', '-p', 'imu_topic:=/imu', '-p', 'lidar_topic:=/lidar', '-p', 'base_frame:=base_link']); time.sleep(5); r = p.poll(); p.terminate(); time.sleep(3); p.kill(); p.wait(); sys.exit(0 if r is None else 1)"
diff --git a/shared/vinca.yaml b/shared/vinca.yaml
index c8c0c9bfe..359b4f67b 100644
--- a/shared/vinca.yaml
+++ b/shared/vinca.yaml
@@ -260,6 +260,7 @@ packages_select_by_deps:
   - realsense2_camera
   - realsense2_description
   - realtime_tools
+  - rko_lio # LiDAR-inertial odometry (PRBonn); requested in https://github.com/RoboStack/ros-kilted/pull/104
   - rmf_demos
   - rmw
   - rmw_stats_shim