sanatd33 · Oct 11, 2026 · Sep 14, 2026 · Sep 14, 2026 · Sep 16, 2026 · Sep 17, 2026
diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
@@ -16,9 +16,10 @@ jobs:
         uses: actions/checkout@v3
         with:
           fetch-depth: 0
+          submodules: recursive
 
       - name: Run util/ubuntu-setup as sudo
-        run: "./util/ubuntu-setup -y"
+        run: "./util/ubuntu-setup -y --no-submodules"
 
       - name: Build
         run: source /opt/ros/humble/setup.bash && colcon build --parallel-workers 4

diff --git a/.gitmodules b/.gitmodules
@@ -1,3 +1,9 @@
 [submodule "external/style-configs"]
 	path = external/style-configs
 	url = https://github.com/robojackets/style-configs
+[submodule "src/rj_protos/ssl-game-controller"]
+	path = src/rj_protos/ssl-game-controller
+	url = https://github.com/RoboCup-SSL/ssl-game-controller.git
+[submodule "src/rj_protos/ssl-simulation-protocol"]
+	path = src/rj_protos/ssl-simulation-protocol
+	url = https://github.com/RoboCup-SSL/ssl-simulation-protocol.git
diff --git a/makefile b/makefile
@@ -236,3 +236,6 @@ checktidy-lines:
 	@echo "Removing GCC precompiled headers from compile_commands.json so that clang-tidy will work"
 	@sed -i 's/-include [^ ]*cmake_pch\.hxx//' $(COMPILE_COMMANDS_DIR)/compile_commands.json
 	@git diff -U0 --no-color $(DIFFBASE) | python3 util/clang-tidy-diff.py -clang-tidy-binary $(CLANG_TIDY_BINARY) -p1 -path $(COMPILE_COMMANDS_DIR) -j$(CORES) -checks=-google-runtime-references
+
+update-submodules:
+	git submodule update --init --recursive
diff --git a/src/rj_common/include/rj_common/context.hpp b/src/rj_common/include/rj_common/context.hpp
@@ -3,7 +3,7 @@
 #include <memory>
 #include <set>
 
-#include <rj_protos/referee.pb.h>
+#include <rj_protos/state/ssl_gc_referee_message.pb.h>
 
 #include "rj_common/control/motion_setpoint.hpp"
 #include "rj_common/debug_drawer.hpp"

diff --git a/src/rj_common/include/rj_common/referee_enums.hpp b/src/rj_common/include/rj_common/referee_enums.hpp
@@ -1,9 +1,9 @@
 #pragma once
 
-#include <rj_protos/referee.pb.h>
-
 #include <string>
 
+#include <rj_protos/state/ssl_gc_referee_message.pb.h>
+
 namespace referee_module_enums {
 
 using Stage = Referee_Stage;

diff --git a/src/rj_common/include/rj_common/team_info.hpp b/src/rj_common/include/rj_common/team_info.hpp
@@ -1,11 +1,11 @@
 #pragma once
 
-#include <rj_protos/referee.pb.h>
+#include <string>
+#include <vector>
 
 #include <rj_common/time.hpp>
 #include <rj_msgs/msg/team_info.hpp>
-#include <string>
-#include <vector>
+#include <rj_protos/state/ssl_gc_referee_message.pb.h>
 
 // Information about a single team.
 class TeamInfo {

diff --git a/src/rj_geometry/CMakeLists.txt b/src/rj_geometry/CMakeLists.txt
@@ -14,7 +14,6 @@ find_package(Eigen3 REQUIRED)
 find_package(eigen3_cmake_module REQUIRED)
 find_package(Qt5 COMPONENTS Core REQUIRED)
 find_package(fmt REQUIRED)
-find_package(rj_protos REQUIRED)
 find_package(rj_convert REQUIRED)
 find_package(rosidl_default_generators REQUIRED)
 find_package(std_msgs REQUIRED)
@@ -23,7 +22,6 @@ find_package(rj_geometry_msgs REQUIRED)
 set(RJ_GEOMETRY_DEPS
   Eigen3
   fmt
-  rj_protos
   rj_convert
   rj_geometry_msgs
 )

diff --git a/src/rj_geometry/package.xml b/src/rj_geometry/package.xml
@@ -13,7 +13,6 @@
   <depend>eigen3</depend>
   <depend>std_msgs</depend>
 
-  <depend>rj_protos</depend>
   <depend>rj_convert</depend>
   <depend>rj_geometry_msgs</depend>
 

diff --git a/src/rj_protos/CMakeLists.txt b/src/rj_protos/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.8)
+cmake_minimum_required(VERSION 3.20)
 project(rj_protos LANGUAGES CXX)
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
@@ -8,50 +8,115 @@ endif()
 find_package(ament_cmake REQUIRED)
 find_package(Protobuf REQUIRED)
 
-protobuf_generate_cpp(
-  PROTOBUF_SRCS
-  PROTOBUF_HDRS
-  protos/grSim_Commands.proto
-  protos/grSim_Packet.proto
-  protos/grSim_Replacement.proto
-  protos/referee.proto
-  protos/ssl_gc_common.proto
-  protos/ssl_gc_geometry.proto
-  protos/ssl_gc_game_event.proto
-  protos/ssl_simulation_config.proto
-  protos/ssl_simulation_control.proto
-  protos/ssl_simulation_error.proto
-  protos/ssl_simulation_robot_control.proto
-  protos/ssl_simulation_robot_feedback.proto
-  protos/ssl_simulation_synchronous.proto
-  protos/ssl_vision_detection.proto
-  protos/ssl_vision_geometry.proto
-  protos/ssl_vision_wrapper.proto
+set(GC_PROTO_ROOT ${CMAKE_CURRENT_SOURCE_DIR}/ssl-game-controller/proto)
+set(SIM_PROTO_SRC ${CMAKE_CURRENT_SOURCE_DIR}/ssl-simulation-protocol/proto)
+set(SIM_PROTO_ROOT ${CMAKE_CURRENT_BINARY_DIR}/sim_proto)
+set(GEN_ROOT ${CMAKE_CURRENT_BINARY_DIR}/gen)
+set(GEN_DIR ${GEN_ROOT}/rj_protos)
+
+set(GC_PROTOS
+  state/ssl_gc_common.proto
+  state/ssl_gc_game_event.proto
+  state/ssl_gc_referee_message.proto
+  geom/ssl_gc_geometry.proto
+  vision/ssl_vision_detection.proto
+  vision/ssl_vision_geometry.proto
+  vision/ssl_vision_wrapper.proto
+)
+
+set(SIM_PROTOS
+  ssl_simulation_config.proto
+  ssl_simulation_control.proto
+  ssl_simulation_error.proto
+  ssl_simulation_robot_control.proto
+  ssl_simulation_robot_feedback.proto
+  ssl_simulation_synchronous.proto
+)
+
+# There are duplicate protos in ssl-game-controller and ssl-simulation-protocol.
+# In order to avoid duplicates, we rename the imports in ssl-simulation-protocol
+# to point to the ssl-game-controller ones instead.
+set(SIM_IMPORT_REWRITES
+  "ssl_gc_common.proto" "state/ssl_gc_common.proto"
+  "ssl_vision_detection.proto" "vision/ssl_vision_detection.proto"
+  "ssl_vision_geometry.proto" "vision/ssl_vision_geometry.proto"
 )
 
+if(NOT EXISTS ${SIM_PROTO_SRC} OR NOT EXISTS ${GC_PROTO_ROOT})
+  message(FATAL_ERROR
+  "Proto submodule is missing. "
+  "From the repo root, run: make update-submodules")
+endif()
+
+foreach(proto ${SIM_PROTOS})
+  file(READ ${SIM_PROTO_SRC}/${proto} content)
+  set(rewrites ${SIM_IMPORT_REWRITES})
+  while(rewrites)
+    list(POP_FRONT rewrites from to)
+    string(REPLACE "import \"${from}\";" "import \"${to}\";" content "${content}")
+  endwhile()
+  file(CONFIGURE OUTPUT ${SIM_PROTO_ROOT}/${proto} CONTENT "${content}" @ONLY)
+  set_property(DIRECTORY APPEND PROPERTY CMAKE_CONFIGURE_DEPENDS ${SIM_PROTO_SRC}/${proto})
+endforeach()
+
+set(PROTO_FILES)
+foreach(proto ${GC_PROTOS})
+  list(APPEND PROTO_FILES ${GC_PROTO_ROOT}/${proto})
+endforeach()
+foreach(proto ${SIM_PROTOS})
+  list(APPEND PROTO_FILES ${SIM_PROTO_ROOT}/${proto})
+endforeach()
+
+set(PROTO_SRCS)
+set(PROTO_HDRS)
+foreach(proto ${GC_PROTOS} ${SIM_PROTOS})
+  string(REGEX REPLACE "\\.proto$" "" proto_base ${proto})
+  set(proto_src ${GEN_DIR}/${proto_base}.pb.cc)
+  set(proto_hdr ${GEN_DIR}/${proto_base}.pb.h)
+  if(proto IN_LIST GC_PROTOS)
+    set(proto_file ${GC_PROTO_ROOT}/${proto})
+  else()
+    set(proto_file ${SIM_PROTO_ROOT}/${proto})
+  endif()
+  add_custom_command(
+    OUTPUT ${proto_src} ${proto_hdr}
+    COMMAND ${CMAKE_COMMAND} -E make_directory ${GEN_DIR}
+    COMMAND protobuf::protoc
+      --cpp_out=${GEN_DIR}
+      -I ${GC_PROTO_ROOT}
+      -I ${SIM_PROTO_ROOT}
+      ${proto_file}
+    DEPENDS ${PROTO_FILES} protobuf::protoc
+    COMMENT "Running C++ protocol buffer compiler on ${proto}"
+    VERBATIM
+  )
+  list(APPEND PROTO_SRCS ${proto_src})
+  list(APPEND PROTO_HDRS ${proto_hdr})
+endforeach()
+
 add_library(${PROJECT_NAME} SHARED
-  ${PROTOBUF_HDRS}
-  ${PROTOBUF_SRCS}
+  ${PROTO_SRCS}
+  ${PROTO_HDRS}
 )
 
 target_link_libraries(${PROJECT_NAME}
   protobuf::libprotobuf
 )
 
 target_include_directories(${PROJECT_NAME}
-  INTERFACE
-    $<BUILD_INTERFACE:${CMAKE_BINARY_DIR}>
+  PUBLIC
+    $<BUILD_INTERFACE:${GEN_ROOT}>
+    $<BUILD_INTERFACE:${GEN_DIR}>
     $<INSTALL_INTERFACE:include>
+    $<INSTALL_INTERFACE:include/rj_protos>
 )
 
 target_compile_options(${PROJECT_NAME} PRIVATE -Wno-deprecated-declarations)
 
-ament_export_targets(${PROJECT_NAME} HAS_LIBRARY_TARGET)
-ament_export_dependencies(Protobuf)
-
 install(
-  DIRECTORY ${CMAKE_BINARY_DIR}
+  DIRECTORY ${GEN_DIR}
   DESTINATION include
+  FILES_MATCHING PATTERN "*.pb.h"
 )
 
 install(
@@ -63,5 +128,6 @@ install(
   INCLUDES DESTINATION include
 )
 
-ament_export_targets(${PROJECT_NAME})
+ament_export_targets(${PROJECT_NAME} HAS_LIBRARY_TARGET)
+ament_export_dependencies(Protobuf)
 ament_package()
diff --git a/src/rj_protos/README.md b/src/rj_protos/README.md
@@ -4,20 +4,20 @@ Reusable assessment, refactor, and verification template.
 
 | Package Details | Entry |
 | --- | --- |
-| **Package name** |  |
-| **Assigned owner(s)** |  |
-| **Reviewer(s)** |  |
-| **Date started revision** |  |
+| **Package name** | `rj_protos` |
+| **Assigned owner(s)** | Sanat Dhanyamraju |
+| **Reviewer(s)** | Cameron Lyon, Nate Wert |
+| **Date started revision** | 9/1/2026 |
 
 ## 1. Package Identity and Tier
 
 Define the package's purpose and fixed architectural classification before work starts.
 
 | Field | Details |
 | --- | --- |
-| **Plain-language purpose** | _Explain what the package does so a new contributor can understand it._ |
-| **Current responsibilities** | _List the responsibilities currently owned by this package._ |
-| **Out of scope** | _State what this package must not own or attempt to solve._ |
+| **Plain-language purpose** | Contains protobuf files for  SSL-owned interfaces such as game controller and vision processor. |
+| **Current responsibilities** | Owns the protocol for receiving data from SSL-owned interfaces. |
+| **Out of scope** | Does not contain any logic behind how these messages are parsed or how the data is used. |
 
 ## 2. Dependency Rules
 
@@ -27,24 +27,24 @@ Map package relationships before adding, deleting, or moving code. Dependency di
 
 | Field | Details |
 | --- | --- |
-| **Depends on** | _Enter the explicit dependency list from `package.xml`._ |
-| **Depended on by** | _List packages, executables, or systems that consume this package._ |
+| **Depends on** | None |
+| **Depended on by** | `rj_common`, `rj_radio`, `rj_referee`, `rj_utils`, `rj_vision_receiver` |
 
 
 ## 3. Operational Expectations
 
 | Field | Details |
 | --- | --- |
-| **Failure behavior** | _Describe behavior when an upstream input, sensor, network link, radio, or other dependency fails._ |
-| **Recovery behavior** | _Describe automatic recovery, retry, fallback, and operator intervention requirements._ |
-| **Configuration** | _List required parameters, defaults, validation rules, and configuration files._ |
+| **Failure behavior** | If the SSL protos migrate to a different repo, this will no longer stay up-to-date with SSL. |
+| **Recovery behavior** | Modify the package to submodule the new repo. |
+| **Configuration** | CMakeLists.txt contains the list of protos we build, this needs to be updated when we want to use a new proto from SSL. |
 
 ## 4. Testing
 
 ### Test Coverage and Runtime Quality
 
 | Field | Details |
 | --- | --- |
-| **Unit testing** | _Describe what unit tests were used on this package and how._ |
-| **Coverage gaps** | _List untested algorithms, branches, failure paths, and outlier cases._ |
-| **Observed outliers** | _Record flaky behavior, nondeterminism, timing spikes, or unexpected results._ |
+| **Unit testing** | No testing exists as this package contains no code. |
+| **Coverage gaps** | N/A |
+| **Observed outliers** | N/A |
diff --git a/src/rj_protos/protos/RadioTx.proto.legacy b/src/rj_protos/protos/RadioTx.proto.legacy
diff --git a/src/rj_protos/protos/grSim_Commands.proto b/src/rj_protos/protos/grSim_Commands.proto
diff --git a/src/rj_protos/protos/grSim_Packet.proto b/src/rj_protos/protos/grSim_Packet.proto
diff --git a/src/rj_protos/protos/grSim_Replacement.proto b/src/rj_protos/protos/grSim_Replacement.proto