diff --git a/modules/universal-robots-client-library/2.4.0/MODULE.bazel b/modules/universal-robots-client-library/2.4.0/MODULE.bazel
new file mode 100644
index 00000000000..d61b91d263e
--- /dev/null
+++ b/modules/universal-robots-client-library/2.4.0/MODULE.bazel
@@ -0,0 +1,10 @@
+module(
+    name = "universal-robots-client-library",
+    version = "2.4.0",
+    bazel_compatibility = [">=7.2.1"],
+    compatibility_level = 1,
+)
+
+# Most recent version from https://registry.bazel.build/modules/googletest
+bazel_dep(name = "googletest", version = "1.15.2")
+bazel_dep(name = "rules_license", version = "0.0.8")
diff --git a/modules/universal-robots-client-library/2.4.0/overlay/BUILD b/modules/universal-robots-client-library/2.4.0/overlay/BUILD
new file mode 100644
index 00000000000..629ecda0e33
--- /dev/null
+++ b/modules/universal-robots-client-library/2.4.0/overlay/BUILD
@@ -0,0 +1,409 @@
+load("@rules_license//rules:license.bzl", "license")
+
+package(
+    default_applicable_licenses = [":license", ":license_bsd", ":license_zlib"],
+    default_visibility = ["//visibility:public"],
+)
+
+exports_files([
+    "LICENSE_apache_2_0",
+    "include/ur_client_library/queue/LICENSE.md",
+    "include/ur_client_library/queue/atomicops.h",
+    "examples/resources/rtde_input_recipe.txt",
+    "examples/resources/rtde_output_recipe.txt",
+    "resources/external_control.urscript",
+])
+
+license(
+    name = "license",
+    package_name = "universal-robots-client-library",
+    license_kinds = [
+        "@rules_license//licenses/spdx:Apache-2.0",
+    ],
+    license_text = "LICENSE_apache_2_0",
+)
+
+license(
+    name = "license_bsd",
+    package_name = "universal-robots-client-library",
+    license_kinds = [
+        "@rules_license//licenses/spdx:BSD-2-Clause",
+    ],
+    license_text = "include/ur_client_library/queue/LICENSE.md",
+)
+
+license(
+    name = "license_zlib",
+    package_name = "universal-robots-client-library",
+    license_kinds = [
+        "@rules_license//licenses/spdx:Zlib",
+    ],
+    license_text = "include/ur_client_library/queue/atomicops.h",
+)
+
+filegroup(
+    name = "rtde_files",
+    srcs = [
+        "examples/resources/rtde_input_recipe.txt",
+        "examples/resources/rtde_output_recipe.txt",
+        "resources/external_control.urscript",
+    ],
+)
+
+DEFAULT_OPTIONS = ["-fexceptions"]
+
+PEDANTIC_OPTIONS = [
+    "-fexceptions",
+    "-Wall",
+    "-pedantic",
+]
+
+cc_library(
+    name = "ur_client_library",
+    srcs = glob(
+        [
+            "src/**/*.cpp",
+        ],
+    ),
+    hdrs = glob(
+        [
+            "include/**/*.h",
+        ],
+        exclude = [],
+    ),
+    copts = PEDANTIC_OPTIONS,
+    features = ["-use_header_modules"],  # Incompatible with -fexceptions.
+    includes = ["include"],
+)
+
+alias(
+    name = "universal-robots-client-library",
+    actual = ":ur_client_library",
+)
+
+cc_binary(
+    name = "full_driver",
+    srcs = [
+        "examples/full_driver.cpp",
+    ],
+    copts = PEDANTIC_OPTIONS,
+    features = ["-use_header_modules"],  # Incompatible with -fexceptions.
+    deps = [
+        ":ur_client_library",
+    ],
+)
+
+cc_binary(
+    name = "primary_pipeline",
+    srcs = [
+        "examples/primary_pipeline.cpp",
+    ],
+    copts = PEDANTIC_OPTIONS,
+    features = ["-use_header_modules"],  # Incompatible with -fexceptions.
+    deps = [
+        ":ur_client_library",
+    ],
+)
+
+cc_binary(
+    name = "primary_pipeline_calibration",
+    srcs = [
+        "examples/primary_pipeline_calibration.cpp",
+    ],
+    copts = PEDANTIC_OPTIONS,
+    features = ["-use_header_modules"],  # Incompatible with -fexceptions.
+    deps = [
+        ":ur_client_library",
+    ],
+)
+
+cc_binary(
+    name = "rtde_client",
+    srcs = [
+        "examples/rtde_client.cpp",
+    ],
+    copts = PEDANTIC_OPTIONS,
+    features = ["-use_header_modules"],  # Incompatible with -fexceptions.
+    deps = [
+        ":ur_client_library",
+    ],
+)
+
+cc_binary(
+    name = "dashboard_example",
+    srcs = [
+        "examples/dashboard_example.cpp",
+    ],
+    copts = PEDANTIC_OPTIONS,
+    features = ["-use_header_modules"],  # Incompatible with -fexceptions.
+    deps = [
+        ":ur_client_library",
+    ],
+)
+
+cc_test(
+    name = "test_bin_parser",
+    srcs = ["tests/test_bin_parser.cpp"],
+    copts =
+        DEFAULT_OPTIONS,
+    features = ["-use_header_modules"],  # Incompatible with -fexceptions.
+    deps = [
+        ":ur_client_library",
+        "@googletest//:gtest",
+        "@googletest//:gtest_main",
+    ],
+)
+
+cc_test(
+    name = "test_package_serializer",
+    srcs = ["tests/test_package_serializer.cpp"],
+    copts =
+        DEFAULT_OPTIONS,
+    features = ["-use_header_modules"],  # Incompatible with -fexceptions.
+    deps = [
+        ":ur_client_library",
+        "@googletest//:gtest",
+        "@googletest//:gtest_main",
+    ],
+)
+
+cc_test(
+    name = "test_primary_parser",
+    srcs = ["tests/test_primary_parser.cpp"],
+    copts =
+        DEFAULT_OPTIONS,
+    features = ["-use_header_modules"],  # Incompatible with -fexceptions.
+    deps = [
+        ":ur_client_library",
+        "@googletest//:gtest",
+        "@googletest//:gtest_main",
+    ],
+)
+
+cc_test(
+    name = "test_rtde_control_package_pause",
+    srcs = ["tests/test_rtde_control_package_pause.cpp"],
+    copts =
+        DEFAULT_OPTIONS,
+    features = ["-use_header_modules"],  # Incompatible with -fexceptions.
+    deps = [
+        ":ur_client_library",
+        "@googletest//:gtest",
+        "@googletest//:gtest_main",
+    ],
+)
+
+cc_test(
+    name = "test_rtde_control_package_setup_inputs",
+    srcs = ["tests/test_rtde_control_package_setup_inputs.cpp"],
+    copts =
+        DEFAULT_OPTIONS,
+    features = ["-use_header_modules"],  # Incompatible with -fexceptions.
+    deps = [
+        ":ur_client_library",
+        "@googletest//:gtest",
+        "@googletest//:gtest_main",
+    ],
+)
+
+cc_test(
+    name = "test_rtde_control_package_setup_outputs",
+    srcs = ["tests/test_rtde_control_package_setup_outputs.cpp"],
+    copts =
+        DEFAULT_OPTIONS,
+    features = ["-use_header_modules"],  # Incompatible with -fexceptions.
+    deps = [
+        ":ur_client_library",
+        "@googletest//:gtest",
+        "@googletest//:gtest_main",
+    ],
+)
+
+cc_test(
+    name = "test_rtde_control_package_start",
+    srcs = ["tests/test_rtde_control_package_start.cpp"],
+    copts =
+        DEFAULT_OPTIONS,
+    features = ["-use_header_modules"],  # Incompatible with -fexceptions.
+    deps = [
+        ":ur_client_library",
+        "@googletest//:gtest",
+        "@googletest//:gtest_main",
+    ],
+)
+
+cc_test(
+    name = "test_rtde_data_package",
+    srcs = ["tests/test_rtde_data_package.cpp"],
+    copts =
+        DEFAULT_OPTIONS,
+    features = ["-use_header_modules"],  # Incompatible with -fexceptions.
+    deps = [
+        ":ur_client_library",
+        "@googletest//:gtest",
+        "@googletest//:gtest_main",
+    ],
+)
+
+cc_test(
+    name = "test_rtde_get_urcontrol_version",
+    srcs = ["tests/test_rtde_get_urcontrol_version.cpp"],
+    copts =
+        DEFAULT_OPTIONS,
+    features = ["-use_header_modules"],  # Incompatible with -fexceptions.
+    deps = [
+        ":ur_client_library",
+        "@googletest//:gtest",
+        "@googletest//:gtest_main",
+    ],
+)
+
+cc_test(
+    name = "test_rtde_parser",
+    srcs = ["tests/test_rtde_parser.cpp"],
+    copts =
+        DEFAULT_OPTIONS,
+    features = ["-use_header_modules"],  # Incompatible with -fexceptions.
+    deps = [
+        ":ur_client_library",
+        "@googletest//:gtest",
+        "@googletest//:gtest_main",
+    ],
+)
+
+cc_test(
+    name = "test_rtde_request_protocol_version",
+    srcs = ["tests/test_rtde_request_protocol_version.cpp"],
+    copts =
+        DEFAULT_OPTIONS,
+    features = ["-use_header_modules"],  # Incompatible with -fexceptions.
+    tags = [
+        "requires-net:ipv4",
+        "requires-net:loopback",
+    ],
+    deps = [
+        ":ur_client_library",
+        "@googletest//:gtest",
+        "@googletest//:gtest_main",
+    ],
+)
+
+cc_test(
+    name = "test_rtde_writer",
+    srcs = ["tests/test_rtde_writer.cpp"],
+    copts =
+        DEFAULT_OPTIONS,
+    features = ["-use_header_modules"],  # Incompatible with -fexceptions.
+    tags = [
+        "notsan",
+        "requires-net:ipv4",
+        "requires-net:loopback",
+    ],
+    deps = [
+        ":ur_client_library",
+        "@googletest//:gtest",
+        "@googletest//:gtest_main",
+    ],
+)
+
+cc_test(
+    name = "test_script_sender",
+    srcs = ["tests/test_script_sender.cpp"],
+    copts =
+        DEFAULT_OPTIONS,
+    features = ["-use_header_modules"],  # Incompatible with -fexceptions.
+    tags = [
+        "requires-net:ipv4",
+        "requires-net:loopback",
+    ],
+    deps = [
+        ":ur_client_library",
+        "@googletest//:gtest",
+        "@googletest//:gtest_main",
+    ],
+)
+
+cc_test(
+    name = "test_stream",
+    srcs = ["tests/test_stream.cpp"],
+    copts =
+        DEFAULT_OPTIONS,
+    features = ["-use_header_modules"],  # Incompatible with -fexceptions.
+    tags = [
+        "notsan",
+        "requires-net:ipv4",
+        "requires-net:loopback",
+    ],
+    deps = [
+        ":ur_client_library",
+        "@googletest//:gtest",
+        "@googletest//:gtest_main",
+    ],
+)
+
+cc_test(
+    name = "test_tcp_server",
+    srcs = ["tests/test_tcp_server.cpp"],
+    copts =
+        DEFAULT_OPTIONS,
+    features = ["-use_header_modules"],  # Incompatible with -fexceptions.
+    tags = [
+        "notsan",
+        "requires-net:ipv4",
+        "requires-net:loopback",
+    ],
+    deps = [
+        ":ur_client_library",
+        "@googletest//:gtest",
+        "@googletest//:gtest_main",
+    ],
+)
+
+cc_test(
+    name = "test_tcp_socket",
+    srcs = ["tests/test_tcp_socket.cpp"],
+    copts =
+        DEFAULT_OPTIONS,
+    features = ["-use_header_modules"],  # Incompatible with -fexceptions.
+    tags = [
+        "notsan",
+        "requires-net:ipv4",
+        "requires-net:loopback",
+    ],
+    deps = [
+        ":ur_client_library",
+        "@googletest//:gtest",
+        "@googletest//:gtest_main",
+    ],
+)
+
+cc_test(
+    name = "test_trajectory_point_interface",
+    srcs = ["tests/test_trajectory_point_interface.cpp"],
+    copts =
+        DEFAULT_OPTIONS,
+    features = ["-use_header_modules"],  # Incompatible with -fexceptions.
+    tags = [
+        "notsan",
+        "requires-net:ipv4",
+        "requires-net:loopback",
+    ],
+    deps = [
+        ":ur_client_library",
+        "@googletest//:gtest",
+        "@googletest//:gtest_main",
+    ],
+)
+
+cc_test(
+    name = "test_version_information",
+    srcs = ["tests/test_version_information.cpp"],
+    copts =
+        DEFAULT_OPTIONS,
+    features = ["-use_header_modules"],  # Incompatible with -fexceptions.
+    deps = [
+        ":ur_client_library",
+        "@googletest//:gtest",
+        "@googletest//:gtest_main",
+    ],
+)
diff --git a/modules/universal-robots-client-library/2.4.0/overlay/MODULE.bazel b/modules/universal-robots-client-library/2.4.0/overlay/MODULE.bazel
new file mode 120000
index 00000000000..9b599e3ad9c
--- /dev/null
+++ b/modules/universal-robots-client-library/2.4.0/overlay/MODULE.bazel
@@ -0,0 +1 @@
+../MODULE.bazel
\ No newline at end of file
diff --git a/modules/universal-robots-client-library/2.4.0/presubmit.yml b/modules/universal-robots-client-library/2.4.0/presubmit.yml
new file mode 100644
index 00000000000..70c8c2c1975
--- /dev/null
+++ b/modules/universal-robots-client-library/2.4.0/presubmit.yml
@@ -0,0 +1,25 @@
+matrix:
+  platform:
+  - debian11
+  - ubuntu2404
+  bazel: [7.x, 8.x]
+tasks:
+  verify_targets:
+    name: Verify build targets
+    platform: ${{ platform }}
+    bazel: ${{ bazel }}
+    build_flags:
+    - '--cxxopt=-std=c++17'
+    - '--host_cxxopt=-std=c++17'
+    - "--copt=-pthread"
+    - "--linkopt=-pthread"
+    test_flags:
+    - '--cxxopt=-std=c++17'
+    - '--host_cxxopt=-std=c++17'
+    - "--copt=-pthread"
+    - "--linkopt=-pthread"
+    build_targets:
+    - '@universal-robots-client-library//:*'
+    test_targets: # only 2 test targets are being used since others use sockets
+    - '@universal-robots-client-library//:test_bin_parser'
+    - '@universal-robots-client-library//:test_primary_parser'
diff --git a/modules/universal-robots-client-library/2.4.0/source.json b/modules/universal-robots-client-library/2.4.0/source.json
new file mode 100644
index 00000000000..61293dda4ae
--- /dev/null
+++ b/modules/universal-robots-client-library/2.4.0/source.json
@@ -0,0 +1,9 @@
+{
+    "url": "https://github.com/UniversalRobots/Universal_Robots_Client_Library/archive/refs/tags/2.4.0.tar.gz",
+    "integrity": "sha256-wN9RLN1OnMUkATXfqFd+FghdL/bwxSKYgSrky+Ic6DY=",
+    "strip_prefix": "Universal_Robots_Client_Library-2.4.0",
+    "overlay": {
+        "BUILD": "sha256-t0HYMf+ktKaWkEArXdMQB1LZ1eaUMlBpjfDa9N/dfxM=",
+        "MODULE.bazel": "sha256-GApeW0ib0f+UqNnIB+VKDejzylGI86ejSwHIaVHP5Bs="
+    }
+}
diff --git a/modules/universal-robots-client-library/metadata.json b/modules/universal-robots-client-library/metadata.json
index 4aed6bcf793..65ad6b26c90 100644
--- a/modules/universal-robots-client-library/metadata.json
+++ b/modules/universal-robots-client-library/metadata.json
@@ -4,8 +4,14 @@
         {
             "email": "bremerb@google.com",
             "github": "b-bremer",
-            "name": "Benjamin Bremer",
-            "github_user_id": 871576
+            "github_user_id": 871576,
+            "name": "Benjamin Bremer"
+        },
+        {
+            "email": "sotiropoulos@google.com",
+            "github": "FilipposSot",
+            "github_user_id": 29069962,
+            "name": "Filippos Sotiropoulos"
         }
     ],
     "repository": [
@@ -16,7 +22,8 @@
         "1.4.0.bcr.1",
         "1.5.0",
         "1.5.0.bcr.1",
-        "2.2.0"
+        "2.2.0",
+        "2.4.0"
     ],
     "yanked_versions": {}
 }