diff --git a/CMakeLists.txt b/CMakeLists.txt
index a463e684..e79ca135 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -3,7 +3,6 @@ project(lanelet2)
 
 set(CMAKE_CXX_STANDARD 17)
 set(CMAKE_CXX_STANDARD_REQUIRED)
-
 set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS TRUE)
 set(CMAKE_EXPORT_COMPILE_COMMANDS TRUE)
 if (MSVC)
@@ -20,7 +19,7 @@ add_subdirectory(lanelet2_io)
 add_subdirectory(lanelet2_projection)
 add_subdirectory(lanelet2_traffic_rules)
 add_subdirectory(lanelet2_routing)
-#add_subdirectory(lanelet2_validation)
+add_subdirectory(lanelet2_validation)
 #add_subdirectory(lanelet2_examples)
 #add_subdirectory(lanelet2_python)
 add_subdirectory(lanelet2_maps)
diff --git a/conanfile.py b/conanfile.py
index c9ff9d92..287e2ff7 100644
--- a/conanfile.py
+++ b/conanfile.py
@@ -22,8 +22,8 @@ class Lanelet2Conan(ConanFile):
         # 'lanelet2_matching',
         'lanelet2_projection',
         'lanelet2_traffic_rules',
-        # 'lanelet2_routing',
-        # 'lanelet2_validation'
+        'lanelet2_routing',
+        'lanelet2_validation'
     ]
 
     exports_sources = ["CMakeLists.txt"] + [f"{proj}/*" for proj in proj_list]
diff --git a/lanelet2_validation/CMakeLists.txt b/lanelet2_validation/CMakeLists.txt
index 6eb87afe..8519dbcd 100644
--- a/lanelet2_validation/CMakeLists.txt
+++ b/lanelet2_validation/CMakeLists.txt
@@ -1,4 +1,4 @@
-set(MRT_PKG_VERSION 4.0.0)
+#set(MRT_PKG_VERSION 4.0.0)
 # Modify only if you know what you are doing!
 cmake_minimum_required(VERSION 3.5.1)
 project(lanelet2_validation)
@@ -6,76 +6,123 @@ project(lanelet2_validation)
 ###################
 ## Find packages ##
 ###################
-find_package(mrt_cmake_modules REQUIRED)
-include(UseMrtStdCompilerFlags)
-include(GatherDeps)
+#find_package(mrt_cmake_modules REQUIRED)
+#include(UseMrtStdCompilerFlags)
+#include(GatherDeps)
 
 # You can add a custom.cmake in order to add special handling for this package. E.g. you can do:
 # list(REMOVE_ITEM DEPENDEND_PACKAGES <package name 1> <package name 2> ...)
 # To remove libs which cannot be found automatically. You can also "find_package" other, custom dependencies there.
 # You can also set PROJECT_INSTALL_FILES to install files that are not installed by default.
-if(EXISTS "${CMAKE_CURRENT_SOURCE_DIR}/custom.cmake")
-    include("${CMAKE_CURRENT_SOURCE_DIR}/custom.cmake")
-endif()
-
-find_package(AutoDeps REQUIRED COMPONENTS ${DEPENDEND_PACKAGES})
-
-mrt_parse_package_xml()
+#if(EXISTS "${CMAKE_CURRENT_SOURCE_DIR}/custom.cmake")
+#    include("${CMAKE_CURRENT_SOURCE_DIR}/custom.cmake")
+#endif()
+#
+#find_package(AutoDeps REQUIRED COMPONENTS ${DEPENDEND_PACKAGES})
+#
+#mrt_parse_package_xml()
 
 ########################
 ## Add python modules ##
 ########################
 # This adds a python module if located under src/{PROJECT_NAME)
-mrt_python_module_setup()
-
-mrt_glob_files(PROJECT_PYTHON_SOURCE_FILES_SRC "python_api/*.cpp")
-if (PROJECT_PYTHON_SOURCE_FILES_SRC)
-    # Add a cpp-python api library. Make sure there are no name collisions with python modules in this project
-    mrt_add_python_api( ${PROJECT_NAME}
-        FILES ${PROJECT_PYTHON_SOURCE_FILES_SRC}
-        )
-endif()
+#mrt_python_module_setup()
+#
+#mrt_glob_files(PROJECT_PYTHON_SOURCE_FILES_SRC "python_api/*.cpp")
+#if (PROJECT_PYTHON_SOURCE_FILES_SRC)
+#    # Add a cpp-python api library. Make sure there are no name collisions with python modules in this project
+#    mrt_add_python_api( ${PROJECT_NAME}
+#        FILES ${PROJECT_PYTHON_SOURCE_FILES_SRC}
+#        )
+#endif()
 
 ############################
 ## Read source code files ##
 ############################
-mrt_glob_files_recurse(PROJECT_HEADER_FILES_INC "include/*.h" "include/*.hpp" "include/*.cuh")
-mrt_glob_files(PROJECT_SOURCE_FILES_INC "src/*.h" "src/*.hpp" "src/*.cuh")
-mrt_glob_files_recurse(PROJECT_SOURCE_FILES_SRC "src/*.cpp" "src/*.cu")
+#mrt_glob_files_recurse(PROJECT_HEADER_FILES_INC "include/*.h" "include/*.hpp" "include/*.cuh")
+#mrt_glob_files(PROJECT_SOURCE_FILES_INC "src/*.h" "src/*.hpp" "src/*.cuh")
+#mrt_glob_files_recurse(PROJECT_SOURCE_FILES_SRC "src/*.cpp" "src/*.cu")
+file(GLOB_RECURSE PROJECT_SOURCE_FILES_SRC "${CMAKE_CURRENT_SOURCE_DIR}/src/*.cpp")
 
 ###########
 ## Build ##
 ###########
 # Declare a cpp library
-mrt_add_library(${PROJECT_NAME}
-    INCLUDES ${PROJECT_HEADER_FILES_INC} ${PROJECT_SOURCE_FILES_INC}
-    SOURCES ${PROJECT_SOURCE_FILES_SRC}
-    )
+#mrt_add_library(${PROJECT_NAME}
+#    INCLUDES ${PROJECT_HEADER_FILES_INC} ${PROJECT_SOURCE_FILES_INC}
+#    SOURCES ${PROJECT_SOURCE_FILES_SRC}
+#    )
+find_package(Boost REQUIRED)
+add_library(${PROJECT_NAME} SHARED ${PROJECT_SOURCE_FILES_SRC})
+target_include_directories(${PROJECT_NAME} PUBLIC "${CMAKE_CURRENT_SOURCE_DIR}/include")
+target_link_libraries(${PROJECT_NAME} PUBLIC lanelet2_core lanelet2_io lanelet2_traffic_rules lanelet2_projection lanelet2_routing Boost::program_options)
 
 # Add executables in "tools"
-glob_folders(TOOL_DIRECTORIES "${CMAKE_CURRENT_SOURCE_DIR}/tools")
-if (TOOL_DIRECTORIES)
-    # Found subfolders, add executable for each subfolder
-    foreach(TOOL_DIR ${TOOL_DIRECTORIES})
-        mrt_add_executable(${TOOL_DIR} FOLDER "tools/${TOOL_DIR}")
-    endforeach()
-else()
+#glob_folders(TOOL_DIRECTORIES "${CMAKE_CURRENT_SOURCE_DIR}/tools")
+#if (TOOL_DIRECTORIES)
+#    # Found subfolders, add executable for each subfolder
+#    foreach(TOOL_DIR ${TOOL_DIRECTORIES})
+#        mrt_add_executable(${TOOL_DIR} FOLDER "tools/${TOOL_DIR}")
+#    endforeach()
+#else()
+#    # No subfolder found, add executable and python modules for tools folder
+#    mrt_add_executable(${PROJECT_NAME} FOLDER "tools")
+#endif()
+
+set(TOOL_TARGETS)
+file(GLOB TOOL_DIRECTORIES RELATIVE "${CMAKE_CURRENT_SOURCE_DIR}/tools" "${CMAKE_CURRENT_SOURCE_DIR}/tools/*")
+foreach (TOOL_DIR ${TOOL_DIRECTORIES})
+    if (IS_DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}/tools/${TOOL_DIR}")
+        file(GLOB TOOL_SOURCES_FILES "${CMAKE_CURRENT_SOURCE_DIR}/tools/${TOOL_DIR}/*.cpp")
+        add_executable(${TOOL_DIR} ${TOOL_SOURCES_FILES})
+        target_link_libraries(${TOOL_DIR} PUBLIC lanelet2_validation)
+        list(APPEND TOOL_TARGETS ${TOOL_DIR})
+    endif ()
+endforeach ()
+
+if (NOT TOOL_TARGETS)
     # No subfolder found, add executable and python modules for tools folder
-    mrt_add_executable(${PROJECT_NAME} FOLDER "tools")
-endif()
+    file(GLOB TOOL_SOURCES_FILES "${CMAKE_CURRENT_SOURCE_DIR}/tools/*.cpp")
+    add_executable("${PROJECT_NAME}_tool" ${TOOL_SOURCES_FILES})
+    target_link_libraries("${PROJECT_NAME}_tool" PUBLIC lanelet2_validation)
+    list(APPEND TOOL_TARGETS "${PROJECT_NAME}_tool")
+endif ()
+
 
 #############
 ## Install ##
 #############
 # Install all targets, headers by default and scripts and other files if specified (folders or files).
 # This command also exports libraries and config files for dependent packages and this supersedes catkin_package.
-mrt_install(PROGRAMS scripts FILES res data ${PROJECT_INSTALL_FILES})
+#mrt_install(PROGRAMS scripts FILES res data ${PROJECT_INSTALL_FILES})
+install(TARGETS ${PROJECT_NAME} ${EXECUTABLE_TARGETS}
+        ARCHIVE DESTINATION ${PROJECT_INSTALL_FILES}
+        LIBRARY DESTINATION ${PROJECT_INSTALL_FILES}
+        RUNTIME DESTINATION ${PROJECT_INSTALL_FILES})
 
 #############
 ## Testing ##
 #############
 # Add test targets for cpp and python tests
-if (CATKIN_ENABLE_TESTING)
-    mrt_add_tests(test)
-    mrt_add_nosetests(test)
-endif()
+#if (CATKIN_ENABLE_TESTING)
+#    mrt_add_tests(test)
+#    mrt_add_nosetests(test)
+#endif ()
+
+if (LANELET2_ENABLE_TESTING)
+    include(GoogleTest)
+    find_package(GTest REQUIRED)
+    file(GLOB PROJECT_SOURCE_FILES_TEST "${CMAKE_CURRENT_SOURCE_DIR}/test/*.cpp")
+    add_executable("${PROJECT_NAME}_test" ${PROJECT_SOURCE_FILES_TEST})
+    target_link_libraries("${PROJECT_NAME}_test" PRIVATE GTest::gtest_main ${PROJECT_NAME})
+
+    add_custom_command(TARGET "${PROJECT_NAME}_test" POST_BUILD
+            COMMAND ${CMAKE_COMMAND} -E copy_if_different "$<TARGET_FILE:lanelet2_core>" "$<TARGET_FILE_DIR:${PROJECT_NAME}_test>"
+            COMMAND ${CMAKE_COMMAND} -E copy_if_different "$<TARGET_FILE:lanelet2_io>" "$<TARGET_FILE_DIR:${PROJECT_NAME}_test>"
+            COMMAND ${CMAKE_COMMAND} -E copy_if_different "$<TARGET_FILE:lanelet2_traffic_rules>" "$<TARGET_FILE_DIR:${PROJECT_NAME}_test>"
+            COMMAND ${CMAKE_COMMAND} -E copy_if_different "$<TARGET_FILE:lanelet2_projection>" "$<TARGET_FILE_DIR:${PROJECT_NAME}_test>"
+            COMMAND ${CMAKE_COMMAND} -E copy_if_different "$<TARGET_FILE:lanelet2_routing>" "$<TARGET_FILE_DIR:${PROJECT_NAME}_test>")
+
+    gtest_discover_tests("${PROJECT_NAME}_test")
+    add_dependencies("${PROJECT_NAME}_test" lanelet2_maps)
+endif ()
\ No newline at end of file
diff --git a/lanelet2_validation/test/lanelet2_validation.cpp b/lanelet2_validation/test/lanelet2_validation.cpp
index 3e30df4c..39b036e1 100644
--- a/lanelet2_validation/test/lanelet2_validation.cpp
+++ b/lanelet2_validation/test/lanelet2_validation.cpp
@@ -9,7 +9,7 @@
 #include "lanelet2_validation/Validation.h"
 
 TEST(TestAllValidators, onExampleMap) {  // NOLINT
-  const char* args[] = {"validator",      "../../lanelet2_maps/res/mapping_example.osm",
+  const char* args[] = {"validator",      "../lanelet2_maps/res/mapping_example.osm",
                         "--participants", "vehicle",
                         "--participants", "pedestrian",
                         "--lat",          "49",
@@ -32,7 +32,7 @@ TEST(Validator, pointsTooClose) {  // NOLINT
 }
 
 TEST(Validator, curvatureTooBig) {  // NOLINT
-  std::string exampleMapPath = "../../lanelet2_maps/res/mapping_example.osm";
+  std::string exampleMapPath = "../lanelet2_maps/res/mapping_example.osm";
   using namespace lanelet;
   projection::UtmProjector projector(Origin({49, 8.4}));
   LaneletMapPtr map = load(exampleMapPath, projector);