diff --git a/recipes/libnabo/all/conandata.yml b/recipes/libnabo/all/conandata.yml
new file mode 100644
index 0000000000000..86054cc4bd55a
--- /dev/null
+++ b/recipes/libnabo/all/conandata.yml
@@ -0,0 +1,9 @@
+sources:
+  "1.0.7":
+    url: "https://github.com/ethz-asl/libnabo/archive/refs/tags/1.0.7.tar.gz"
+    sha256: "817f43ba77668a7fab2834e78f0a9ff80e294d69c9818142084a32040547d10a"
+patches:
+  "1.0.7":
+    - patch_file: "patches/1.0.7-0001-fix-cmake.patch"
+      patch_description: "Fix upstream CMakeLists"
+      patch_type: "conan"
diff --git a/recipes/libnabo/all/conanfile.py b/recipes/libnabo/all/conanfile.py
new file mode 100644
index 0000000000000..7ea7ce19cee21
--- /dev/null
+++ b/recipes/libnabo/all/conanfile.py
@@ -0,0 +1,81 @@
+from conan import ConanFile
+from conan.tools.cmake import CMake, CMakeDeps, CMakeToolchain, cmake_layout
+from conan.tools.files import apply_conandata_patches, copy, export_conandata_patches, get, rmdir
+import os
+
+required_conan_version = ">=1.53.0"
+
+
+class LibnaboConan(ConanFile):
+    name = "libnabo"
+    description = "A fast K Nearest Neighbor library for low-dimensional spaces"
+    license = "BSD-3-Clause"
+    topics = ("nearest-neighbor", "kd-tree")
+    homepage = "https://github.com/ethz-asl/libnabo"
+    url = "https://github.com/conan-io/conan-center-index"
+    package_type = "library"
+    settings = "os", "arch", "compiler", "build_type"
+    options = {
+        "shared": [True, False],
+        "fPIC": [True, False],
+        "with_openmp": [True, False],
+    }
+    default_options = {
+        "shared": False,
+        "fPIC": True,
+        "with_openmp": False,
+    }
+
+    def export_sources(self):
+        export_conandata_patches(self)
+
+    def config_options(self):
+        if self.settings.os == "Windows":
+            del self.options.fPIC
+
+    def configure(self):
+        if self.options.shared:
+            self.options.rm_safe("fPIC")
+
+    def layout(self):
+        cmake_layout(self, src_folder="src")
+
+    def requirements(self):
+        self.requires("eigen/3.4.0", transitive_headers=True)
+
+    def source(self):
+        get(self, **self.conan_data["sources"][self.version], strip_root=True)
+
+    def generate(self):
+        tc = CMakeToolchain(self)
+        tc.cache_variables["USE_OPEN_MP"] = self.options.with_openmp
+        tc.cache_variables["USE_OPEN_CL"] = False
+        tc.cache_variables["SHARED_LIBS"] = self.options.shared
+        tc.generate()
+        deps = CMakeDeps(self)
+        deps.generate()
+
+    def build(self):
+        apply_conandata_patches(self)
+        cmake = CMake(self)
+        cmake.configure()
+        cmake.build()
+
+    def package(self):
+        copy(self, "copyright", src=os.path.join(self.source_folder, "debian"),
+                                dst=os.path.join(self.package_folder, "licenses"))
+        cmake = CMake(self)
+        cmake.install()
+        rmdir(self, os.path.join(self.package_folder, "share"))
+
+    def package_info(self):
+        self.cpp_info.set_property("cmake_file_name", "libnabo")
+        self.cpp_info.set_property("cmake_target_name", "libnabo::nabo")
+        # TODO: back to global scope in conan v2
+        self.cpp_info.components["nabo"].libs = ["nabo"]
+
+        # TODO: to remove in conan v2
+        self.cpp_info.components["nabo"].names["cmake_find_package"] = "nabo"
+        self.cpp_info.components["nabo"].names["cmake_find_package_multi"] = "nabo"
+        self.cpp_info.components["nabo"].set_property("cmake_target_name", "libnabo::nabo")
+        self.cpp_info.components["nabo"].requires = ["eigen::eigen"]
diff --git a/recipes/libnabo/all/patches/1.0.7-0001-fix-cmake.patch b/recipes/libnabo/all/patches/1.0.7-0001-fix-cmake.patch
new file mode 100644
index 0000000000000..8efc965410dc9
--- /dev/null
+++ b/recipes/libnabo/all/patches/1.0.7-0001-fix-cmake.patch
@@ -0,0 +1,94 @@
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -1,4 +1,4 @@
+-cmake_minimum_required(VERSION 2.6)
++cmake_minimum_required(VERSION 3.15)
+ 
+ if (NOT CMAKE_VERSION VERSION_LESS "3.1")
+ 	cmake_policy(SET CMP0054 NEW)
+@@ -7,6 +7,10 @@ endif ()
+ set(LIB_NAME nabo)
+ project("lib${LIB_NAME}")
+ 
++file(READ "nabo/nabo.h" NABO_HEADER_CONTENT)
++string(REGEX MATCH "#define NABO_VERSION \"([0-9]+\.[0-9]+\.[0-9]+)\"" _ ${NABO_HEADER_CONTENT})
++set(PROJECT_VERSION ${CMAKE_MATCH_1})
++if(0)
+ # Extract version from header
+ set(CMAKE_MODULE_PATH ${CMAKE_CURRENT_SOURCE_DIR})
+ execute_process(
+@@ -86,6 +90,7 @@ if (CMAKE_VERSION VERSION_LESS "3.1")
+ else ()
+ 	set (CMAKE_CXX_STANDARD 11)
+ endif ()
++endif()
+ 
+ # openmp
+ set(USE_OPEN_MP TRUE CACHE BOOL "Set to FALSE to not use OpenMP")
+@@ -101,15 +106,7 @@ if (USE_OPEN_MP)
+ endif (USE_OPEN_MP)
+ 
+ # eigen 2 or 3
+-find_path(EIGEN_INCLUDE_DIR Eigen/Core
+-	/usr/local/include/eigen3
+-	/usr/local/include/eigen2
+-	/usr/local/include/eigen
+-	/usr/include/eigen3
+-	/usr/include/eigen2
+-	/usr/include/eigen
+-	/opt/local/include/eigen3
+-)
++find_package(Eigen3 REQUIRED CONFIG)
+ 
+ # optionally, opencl
+ # OpenCL disabled as its code is not up-to-date with API
+@@ -141,7 +138,6 @@ else (USE_OPEN_CL)
+ endif (USE_OPEN_CL)
+ 
+ # include all libs so far
+-include_directories(${CMAKE_SOURCE_DIR} ${EIGEN_INCLUDE_DIR})
+ 
+ # main nabo lib
+ set(NABO_SRC
+@@ -153,12 +149,14 @@ set(NABO_SRC
+ set(SHARED_LIBS FALSE CACHE BOOL "Set to TRUE to build shared library")
+ if (SHARED_LIBS)
+ 	add_library(${LIB_NAME} SHARED ${NABO_SRC})
+-	install(TARGETS ${LIB_NAME} LIBRARY DESTINATION lib)
++	install(TARGETS ${LIB_NAME} LIBRARY DESTINATION lib ARCHIVE DESTINATION lib RUNTIME DESTINATION bin)
++    set_target_properties(${LIB_NAME} PROPERTIES WINDOWS_EXPORT_ALL_SYMBOLS ON)
+ else (SHARED_LIBS)
+ 	add_library(${LIB_NAME} ${NABO_SRC})
+-	add_definitions(-fPIC)
+ 	install(TARGETS ${LIB_NAME} ARCHIVE DESTINATION lib)
+ endif (SHARED_LIBS)
++target_link_libraries(${LIB_NAME} PUBLIC Eigen3::Eigen)
++target_compile_features(${LIB_NAME} PUBLIC cxx_std_11)
+ set_target_properties(${LIB_NAME} PROPERTIES VERSION "${PROJECT_VERSION}" SOVERSION 1)
+ 
+ # create doc before installing
+@@ -170,11 +168,7 @@ if (DOXYGEN_FOUND)
+ 	install(DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/doc/html DESTINATION ${DOC_INSTALL_TARGET})
+ endif (DOXYGEN_FOUND)
+ 
+-enable_testing()
+ 
+-add_subdirectory(examples)
+-add_subdirectory(tests)
+-add_subdirectory(python)
+ 
+ # Install catkin package.xml
+ install(FILES package.xml DESTINATION share/libnabo)
+@@ -195,6 +189,7 @@ install(FILES package.xml DESTINATION share/libnabo)
+ # 1- local build #
+ 
+ # Register the local build in case one doesn't use "make install"
++if(0)
+ export(PACKAGE libnabo)
+ 
+ # Create variable with the library location
+@@ -244,3 +239,4 @@ configure_file(
+ 
+ add_custom_target(uninstall
+ 	COMMAND ${CMAKE_COMMAND} -P ${CMAKE_CURRENT_BINARY_DIR}/cmake_uninstall.cmake)
++endif()
diff --git a/recipes/libnabo/all/test_package/CMakeLists.txt b/recipes/libnabo/all/test_package/CMakeLists.txt
new file mode 100644
index 0000000000000..6398a814018da
--- /dev/null
+++ b/recipes/libnabo/all/test_package/CMakeLists.txt
@@ -0,0 +1,8 @@
+cmake_minimum_required(VERSION 3.8)
+project(test_package LANGUAGES CXX)
+
+find_package(libnabo REQUIRED CONFIG)
+
+add_executable(${PROJECT_NAME} test_package.cpp)
+target_link_libraries(${PROJECT_NAME} PRIVATE libnabo::nabo)
+target_compile_features(${PROJECT_NAME} PRIVATE cxx_std_11)
diff --git a/recipes/libnabo/all/test_package/conanfile.py b/recipes/libnabo/all/test_package/conanfile.py
new file mode 100644
index 0000000000000..0a6bc68712d90
--- /dev/null
+++ b/recipes/libnabo/all/test_package/conanfile.py
@@ -0,0 +1,26 @@
+from conan import ConanFile
+from conan.tools.build import can_run
+from conan.tools.cmake import CMake, cmake_layout
+import os
+
+
+class TestPackageConan(ConanFile):
+    settings = "os", "arch", "compiler", "build_type"
+    generators = "CMakeToolchain", "CMakeDeps", "VirtualRunEnv"
+    test_type = "explicit"
+
+    def layout(self):
+        cmake_layout(self)
+
+    def requirements(self):
+        self.requires(self.tested_reference_str)
+
+    def build(self):
+        cmake = CMake(self)
+        cmake.configure()
+        cmake.build()
+
+    def test(self):
+        if can_run(self):
+            bin_path = os.path.join(self.cpp.build.bindirs[0], "test_package")
+            self.run(bin_path, env="conanrun")
diff --git a/recipes/libnabo/all/test_package/test_package.cpp b/recipes/libnabo/all/test_package/test_package.cpp
new file mode 100644
index 0000000000000..7f61223412edc
--- /dev/null
+++ b/recipes/libnabo/all/test_package/test_package.cpp
@@ -0,0 +1,17 @@
+#include <nabo/nabo.h>
+
+#include <memory>
+
+int main()
+{
+    Eigen::MatrixXf M = Eigen::MatrixXf::Random(3, 100);
+    Eigen::VectorXf q = Eigen::VectorXf::Random(3);
+    auto nns = std::unique_ptr<Nabo::NNSearchF>(Nabo::NNSearchF::createKDTreeLinearHeap(M));
+
+    const int K = 5;
+    Eigen::VectorXi indices(K);
+    Eigen::VectorXf dists2(K);
+    nns->knn(q, indices, dists2, K);
+
+    return 0;
+}
diff --git a/recipes/libnabo/all/test_v1_package/CMakeLists.txt b/recipes/libnabo/all/test_v1_package/CMakeLists.txt
new file mode 100644
index 0000000000000..0d20897301b68
--- /dev/null
+++ b/recipes/libnabo/all/test_v1_package/CMakeLists.txt
@@ -0,0 +1,8 @@
+cmake_minimum_required(VERSION 3.1)
+project(test_package)
+
+include(${CMAKE_BINARY_DIR}/conanbuildinfo.cmake)
+conan_basic_setup(TARGETS)
+
+add_subdirectory(${CMAKE_CURRENT_SOURCE_DIR}/../test_package
+                 ${CMAKE_CURRENT_BINARY_DIR}/test_package)
diff --git a/recipes/libnabo/all/test_v1_package/conanfile.py b/recipes/libnabo/all/test_v1_package/conanfile.py
new file mode 100644
index 0000000000000..38f4483872d47
--- /dev/null
+++ b/recipes/libnabo/all/test_v1_package/conanfile.py
@@ -0,0 +1,17 @@
+from conans import ConanFile, CMake, tools
+import os
+
+
+class TestPackageConan(ConanFile):
+    settings = "os", "arch", "compiler", "build_type"
+    generators = "cmake", "cmake_find_package_multi"
+
+    def build(self):
+        cmake = CMake(self)
+        cmake.configure()
+        cmake.build()
+
+    def test(self):
+        if not tools.cross_building(self):
+            bin_path = os.path.join("bin", "test_package")
+            self.run(bin_path, run_environment=True)
diff --git a/recipes/libnabo/config.yml b/recipes/libnabo/config.yml
new file mode 100644
index 0000000000000..377623d3a93f7
--- /dev/null
+++ b/recipes/libnabo/config.yml
@@ -0,0 +1,3 @@
+versions:
+  "1.0.7":
+    folder: all