Maven Artifacts Guide

Understanding WPILib’s Maven artifact structure and repositories

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.

Repositories

WPILib provides two primary repositories:

Release Repository

https://frcmaven.wpi.edu/artifactory/release/

The release repository is where official WPILib releases are published.

Development Repository

https://frcmaven.wpi.edu/artifactory/development/

The development repository is where development releases of every commit to main are published.

Artifact Types

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

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

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

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

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.

Provided Artifacts

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

Core Libraries

wpiutil

edu.wpi.first.wpiutil:wpiutil-java
edu.wpi.first.wpiutil:wpiutil-cpp

Base utility library with no dependencies.

wpimath

edu.wpi.first.wpimath:wpimath-java
edu.wpi.first.wpimath:wpimath-cpp

Dependencies:

• wpiutil

wpinet

edu.wpi.first.wpinet:wpinet-java
edu.wpi.first.wpinet:wpinet-cpp

Dependencies:

• wpiutil

wpiunits

edu.wpi.first.wpiunits:wpiunits-java
edu.wpi.first.wpiunits:wpiunits-cpp

No dependencies.

Networking

ntcore

edu.wpi.first.ntcore:ntcore-java
edu.wpi.first.ntcore:ntcore-cpp

Dependencies:

• wpiutil
• wpinet

Hardware Abstraction

hal

edu.wpi.first.hal:hal-java
edu.wpi.first.hal:hal-cpp

Dependencies:

• wpiutil

Vision

cscore

edu.wpi.first.cscore:cscore-java
edu.wpi.first.cscore:cscore-cpp

Dependencies:

• opencv
• wpinet
• wpiutil

cameraserver

edu.wpi.first.cameraserver:cameraserver-java
edu.wpi.first.cameraserver:cameraserver-cpp

Dependencies:

• ntcore
• cscore
• opencv
• wpinet
• wpiutil

apriltag

edu.wpi.first.apriltag:apriltag-java
edu.wpi.first.apriltag:apriltag-cpp

Dependencies:

• wpiutil
• wpimath

Robot Libraries

wpilibj (Java)

edu.wpi.first.wpilibj:wpilibj-java

Dependencies:

• hal
• cameraserver
• ntcore
• cscore
• wpinet
• wpiutil

wpilibc (C++)

edu.wpi.first.wpilibc:wpilibc-cpp

Dependencies:

• hal
• cameraserver
• ntcore
• cscore
• wpimath
• wpinet
• wpiutil

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

GUI Libraries

wpigui

edu.wpi.first.wpigui:wpigui-cpp

Dependencies:

• imgui

glass/libglass

edu.wpi.first.glass:libglass

Dependencies:

• wpiutil
• wpimath
• wpigui

glass/libglassnt

edu.wpi.first.glass:libglassnt

Dependencies:

• wpiutil
• wpinet
• ntcore
• wpimath
• wpigui

halsim

edu.wpi.first.halsim:halsim

Dependencies:

• wpiutil
• wpinet
• ntcore
• wpimath
• wpigui
• libglass
• libglassnt

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

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.

Next Steps

• Use development builds
• Build WPILib from source
• Learn about the contribution process