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WPILib publishes its built artifacts to Maven repositories for use by downstream projects. This guide explains the repository locations, artifact naming conventions, classifiers, and dependency structure.

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Repositories

WPILib provides two primary repositories:

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Release Repository

https://frcmaven.wpi.edu/artifactory/release/
The release repository is where official WPILib releases are published.

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Development Repository

https://frcmaven.wpi.edu/artifactory/development/
The development repository is where development releases of every commit to main are published.

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Artifact Types

WPILib provides two base types of artifacts: Java artifacts and native (C++) artifacts.

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Java Artifacts

Java artifacts are usually published as jar files:
  • Base artifact: No classifier - contains the compiled Java classes
  • Sources: -sources classifier - contains the source code
  • Javadocs: -javadoc classifier - contains the generated Javadoc
Java artifacts are published with the base artifact name as their artifact ID, with a -java extension. Example: 
edu.wpi.first.wpilibj:wpilibj-java:version

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Native (C++) Artifacts

Native artifacts are usually published as zip files:
  • Sources: -sources classifier - contains the source code
  • Headers: -headers classifier - contains the header files
  • Platform binaries: Platform-specific classifier (e.g., windowsx86-64) - contains binaries for that platform

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Platform Classifiers

Platform classifiers use the format {os}{arch} with optional suffixes:
  • Static libraries: Append static to the classifier
  • Debug builds: Append debug to the classifier
Example classifiers:
  • windowsx86-64 - Windows x86-64 shared library (release)
  • windowsx86-64static - Windows x86-64 static library (release)
  • windowsx86-64staticdebug - Windows x86-64 static library (debug)
  • linuxx86-64 - Linux x86-64 shared library
  • osxuniversal - macOS universal binary
The full list of supported platforms can be found in native-utils.
Platform binary artifacts never contain headers. You always need the -headers classifier to get those.
Native artifacts are published with the base artifact name as their artifact ID, with a -cpp extension. Examples: 
edu.wpi.first.wpimath:wpimath-cpp:version:classifier@zip
edu.wpi.first.wpimath:wpimath-cpp:version:windowsx86-64staticdebug@zip

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JNI Components

If a library has both Java and C++ components with JNI, the native artifact will have a shared library containing JNI entrypoints alongside the C++ shared library. This JNI shared library will have a jni suffix in the file name.

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Provided Artifacts

All artifacts are based at edu.wpi.first.artifactname in the repository.

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Core Libraries

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wpiutil

edu.wpi.first.wpiutil:wpiutil-java
edu.wpi.first.wpiutil:wpiutil-cpp
Base utility library with no dependencies.

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wpimath

edu.wpi.first.wpimath:wpimath-java
edu.wpi.first.wpimath:wpimath-cpp
Dependencies:
  • wpiutil

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wpinet

edu.wpi.first.wpinet:wpinet-java
edu.wpi.first.wpinet:wpinet-cpp
Dependencies:
  • wpiutil

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wpiunits

edu.wpi.first.wpiunits:wpiunits-java
edu.wpi.first.wpiunits:wpiunits-cpp
No dependencies.

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Networking

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ntcore

edu.wpi.first.ntcore:ntcore-java
edu.wpi.first.ntcore:ntcore-cpp
Dependencies:
  • wpiutil
  • wpinet

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Hardware Abstraction

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hal

edu.wpi.first.hal:hal-java
edu.wpi.first.hal:hal-cpp
Dependencies:
  • wpiutil

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Vision

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cscore

edu.wpi.first.cscore:cscore-java
edu.wpi.first.cscore:cscore-cpp
Dependencies:
  • opencv
  • wpinet
  • wpiutil

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cameraserver

edu.wpi.first.cameraserver:cameraserver-java
edu.wpi.first.cameraserver:cameraserver-cpp
Dependencies:
  • ntcore
  • cscore
  • opencv
  • wpinet
  • wpiutil

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apriltag

edu.wpi.first.apriltag:apriltag-java
edu.wpi.first.apriltag:apriltag-cpp
Dependencies:
  • wpiutil
  • wpimath

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Robot Libraries

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wpilibj (Java)

edu.wpi.first.wpilibj:wpilibj-java
Dependencies:
  • hal
  • cameraserver
  • ntcore
  • cscore
  • wpinet
  • wpiutil

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wpilibc (C++)

edu.wpi.first.wpilibc:wpilibc-cpp
Dependencies:
  • hal
  • cameraserver
  • ntcore
  • cscore
  • wpimath
  • wpinet
  • wpiutil

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wpilibNewCommands

edu.wpi.first.wpilibNewCommands:wpilibNewCommands-java
edu.wpi.first.wpilibNewCommands:wpilibNewCommands-cpp
Dependencies:
  • wpilibc (C++) or wpilibj (Java)
  • hal
  • cameraserver
  • ntcore
  • cscore
  • wpimath
  • wpinet
  • wpiutil

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GUI Libraries

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wpigui

edu.wpi.first.wpigui:wpigui-cpp
Dependencies:
  • imgui

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glass/libglass

edu.wpi.first.glass:libglass
Dependencies:
  • wpiutil
  • wpimath
  • wpigui

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glass/libglassnt

edu.wpi.first.glass:libglassnt
Dependencies:
  • wpiutil
  • wpinet
  • ntcore
  • wpimath
  • wpigui

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halsim

edu.wpi.first.halsim:halsim
Dependencies:
  • wpiutil
  • wpinet
  • ntcore
  • wpimath
  • wpigui
  • libglass
  • libglassnt

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Third Party Artifacts

WPILib provides builds of the following third-party software. All third-party artifacts are based at edu.wpi.first.thirdparty.frcYEAR in the repository.
  • apriltaglib - AprilTag detection library
  • googletest - Google Test framework
  • imgui - Dear ImGui graphical interface library
  • opencv - OpenCV computer vision library
  • libssh - SSH library

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Dependency Order for C++ Static Linking

When building with static dependencies in C++, the listed order in each artifact section should be the link order in your linker.
For C++ projects using static linking, ensure dependencies are linked in the correct order to avoid linker errors.

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