diff --git a/modules/byte_track_eigen/2.1.0/MODULE.bazel b/modules/byte_track_eigen/2.1.0/MODULE.bazel
new file mode 100644
index 00000000000..06f51700536
--- /dev/null
+++ b/modules/byte_track_eigen/2.1.0/MODULE.bazel
@@ -0,0 +1,9 @@
+module(
+    name = "byte_track_eigen",
+    version = "2.1.0",
+    bazel_compatibility = [">=7.2.1"],
+    compatibility_level = 1,
+)
+
+bazel_dep(name = "eigen", version = "3.4.0.bcr.1")
+bazel_dep(name = "rules_cc", version = "0.1.0")
diff --git a/modules/byte_track_eigen/2.1.0/overlay/BUILD.bazel b/modules/byte_track_eigen/2.1.0/overlay/BUILD.bazel
new file mode 100644
index 00000000000..a8e986f2900
--- /dev/null
+++ b/modules/byte_track_eigen/2.1.0/overlay/BUILD.bazel
@@ -0,0 +1,12 @@
+load("@rules_cc//cc:defs.bzl", "cc_library")
+
+cc_library(
+    name = "byte_track_eigen",
+    srcs = glob(["src/**/*.cpp"]),
+    hdrs = glob(["include/**/*.h"]),
+    includes = ["include"],
+    visibility = ["//visibility:public"],
+    deps = [
+        "@eigen",
+    ],
+)
diff --git a/modules/byte_track_eigen/2.1.0/overlay/MODULE.bazel b/modules/byte_track_eigen/2.1.0/overlay/MODULE.bazel
new file mode 120000
index 00000000000..9b599e3ad9c
--- /dev/null
+++ b/modules/byte_track_eigen/2.1.0/overlay/MODULE.bazel
@@ -0,0 +1 @@
+../MODULE.bazel
\ No newline at end of file
diff --git a/modules/byte_track_eigen/2.1.0/presubmit.yml b/modules/byte_track_eigen/2.1.0/presubmit.yml
new file mode 100644
index 00000000000..be29ad63567
--- /dev/null
+++ b/modules/byte_track_eigen/2.1.0/presubmit.yml
@@ -0,0 +1,26 @@
+matrix:
+  platform:
+    - debian10
+    - debian11
+    - macos
+    - macos_arm64
+    - ubuntu2004
+    - ubuntu2204
+    - ubuntu2404
+  bazel: [7.x, 8.x, rolling]
+tasks:
+  verify_targets:
+    name: Verify build targets
+    platform: ${{ platform }}
+    bazel: ${{ bazel }}
+    build_targets:
+      - '@byte_track_eigen//:byte_track_eigen'
+  verify_windows_targets:
+    name: Verify build targets
+    platform: windows
+    bazel: ${{ bazel }}
+    build_flags:
+      - '--cxxopt=/std:c++17'
+      - '--host_cxxopt=/std:c++17'
+    build_targets:
+      - '@byte_track_eigen//:byte_track_eigen'
diff --git a/modules/byte_track_eigen/2.1.0/source.json b/modules/byte_track_eigen/2.1.0/source.json
new file mode 100644
index 00000000000..9a5e96f5bdc
--- /dev/null
+++ b/modules/byte_track_eigen/2.1.0/source.json
@@ -0,0 +1,10 @@
+{
+    "integrity": "sha256-JSe5BbrKb8JoWmsZpXKE4jfS7dG4TOC+9uI5FUJjOBQ=",
+    "strip_prefix": "byte-track-eigen-2.1.0",
+    "url": "https://github.com/cj-mills/byte-track-eigen/archive/refs/tags/2.1.0.tar.gz",
+    "patch_strip": 0,
+    "overlay": {
+        "MODULE.bazel": "sha256-pN1Q2V1mytFKJmHcZ8cSTp9lAvFVHl39y/zaF8HAU/g=",
+        "BUILD.bazel": "sha256-EO76VzxLTF5ccR9D9AFAVFpB5CyPBhRU32Jr5RjYO84="
+    }
+}
diff --git a/modules/byte_track_eigen/metadata.json b/modules/byte_track_eigen/metadata.json
new file mode 100644
index 00000000000..a446f02970a
--- /dev/null
+++ b/modules/byte_track_eigen/metadata.json
@@ -0,0 +1,17 @@
+{
+    "homepage": "https://github.com/cj-mills/byte-track-eigen",
+    "maintainers": [
+        {
+            "email": "daisuke.nishimatsu1021@gmail.com",
+            "github": "wep21",
+            "name": "Daisuke Nishimatsu"
+        }
+    ],
+    "repository": [
+        "github:cj-mills/byte-track-eigen"
+    ],
+    "versions": [
+        "2.1.0"
+    ],
+    "yanked_versions": {}
+}