Change Java JSON to Avaje Jsonb (#8721)

Jackson is a very heavy library; it supports loads of features that we don't need, and historically has caused issues due to long class loading times (a little over 2 seconds to load AprilTagFieldLayout). This often manifests as a help request in the form of "my robot disables when I do X, but doesn't disable when doing X in subsequent attempts until code restart." While SC has brought down Jackson loading times significantly, with AprilTagFieldLayout loads taking only 330 milliseconds, that's still a rather long delay, and while libraries should handle any JSON loading ahead of time to prevent delays in auto/teleop, it would still be good to make the worst case better to reduce user frustration. Benchmarks indicate using [Avaje Jsonb](https://github.com/avaje/avaje-jsonb) to load AprilTagFieldLayout only takes ~70 ms, a fair chunk of which isn't actually in Avaje Jsonb (~4 ms is spent on using getResourceAsStream to retrieve the JSON file, ~8 ms is spent on just loading the AprilTag class and its dependencies). Note that all times listed are end-to-end, meaning nothing else was done except for the operation being benchmarked, and doing arithmetic on them can be flawed due to some classes being loaded twice, i.e., getResourceAsStream and `new AprilTag()` likely load some of the same JDK classes and so subtracting both from the Avaje Jsonb load time is likely slightly incorrect because class loading is being double counted. For our purposes, it's likely accurate enough and is mostly just for contextualization. Benchmarks were run on a Raspberry Pi CM5 with 2 GB of RAM. Source code for the [results](https://github.com/user-attachments/files/26471452/benchmark.txt) can be found in the "Fastjson2" commit (2456d15ca8ebd17635e607cd40bf8816e77869a1). Avaje Jsonb uses code generation via annotation processors to generate the classes needed to do JSON serde and uses service providers to find them, which will require downstream changes in robot projects, as the different service providers in each library must be merged together for Avaje Jsonb to function. We will use the Gradle shadow plugin, as its already used by the installer and therefore adds zero additional dependencies.
2026-06-19 00:41:43 +00:00 · 2026-04-11 02:21:00 -04:00
parent 346cd9ed9c
commit 2102a543d1
32 changed files with 294 additions and 298 deletions
--- a/BUILD.bazel
+++ b/BUILD.bazel
@@ -1,10 +1,20 @@
 load("@aspect_bazel_lib//lib:write_source_files.bzl", "write_source_files")
 load("@rules_java//java:java_binary.bzl", "java_binary")
+load("@rules_java//java:java_plugin.bzl", "java_plugin")
 load("@rules_pkg//:mappings.bzl", "pkg_files")
 load("@rules_python//python:pip.bzl", "compile_pip_requirements")
 load("//shared/bazel/rules:publishing.bzl", "publish_all")
 load("//shared/bazel/rules/robotpy:compatibility_select.bzl", "robotpy_compatibility_select")

+java_plugin(
+    name = "avaje_jsonb_generator",
+    processor_class = "io.avaje.jsonb.generator.JsonbProcessor",
+    visibility = ["//visibility:public"],
+    deps = [
+        "@maven//:io_avaje_avaje_jsonb_generator",
+    ],
+)
+
 exports_files([
    "LICENSE.md",
    "ThirdPartyNotices.txt",
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -131,7 +131,7 @@ wpilib_config(OPTIONS WITH_WPIMATH WITH_JAVA REQUIRES WITH_WPIUNITS)
 set(include_dest include)
 set(java_lib_dest java)
 if(WITH_JAVA OR WITH_JAVA_SOURCE)
-    set(CMAKE_JAVA_COMPILE_FLAGS "-encoding" "UTF8" "-Xlint:unchecked")
+    set(CMAKE_JAVA_COMPILE_FLAGS "-encoding" "UTF8" "-Xlint:unchecked" "-proc:full")
    find_package(Java REQUIRED COMPONENTS Development)
    if(NOT ANDROID)
        find_package(JNI REQUIRED COMPONENTS JVM)
--- a/MODULE.bazel
+++ b/MODULE.bazel
@@ -51,9 +51,8 @@ maven.install(
    name = "maven",
    artifacts = [
        "org.ejml:ejml-simple:0.44.0",
-        "com.fasterxml.jackson.core:jackson-annotations:2.19.2",
-        "com.fasterxml.jackson.core:jackson-core:2.19.2",
-        "com.fasterxml.jackson.core:jackson-databind:2.19.2",
+        "io.avaje:avaje-jsonb:3.11",
+        "io.avaje:avaje-jsonb-generator:3.11",
        "us.hebi.quickbuf:quickbuf-runtime:1.4",
        "com.google.code.gson:gson:2.13.1",
        "edu.wpi.first.thirdparty.frc2025.opencv:opencv-java:4.10.0-3",
--- a/apriltag/BUILD.bazel
+++ b/apriltag/BUILD.bazel
@@ -140,6 +140,9 @@ wpilib_jni_java_library(
    maven_artifact_name = "apriltag-java",
    maven_group_id = "org.wpilib.apriltag",
    native_libs = [":apriltagjni"],
+    plugins = [
+        "//:avaje_jsonb_generator",
+    ],
    resource_strip_prefix = "apriltag/src/main/native/resources",
    resources = glob(["src/main/native/resources/**"]),
    visibility = ["//visibility:public"],
@@ -147,9 +150,8 @@ wpilib_jni_java_library(
        "//wpimath:wpimath-java",
        "//wpiutil:wpiutil-java",
        "@bzlmodrio-opencv//libraries/java/opencv",
-        "@maven//:com_fasterxml_jackson_core_jackson_annotations",
-        "@maven//:com_fasterxml_jackson_core_jackson_core",
-        "@maven//:com_fasterxml_jackson_core_jackson_databind",
+        "@maven//:io_avaje_avaje_json_core",
+        "@maven//:io_avaje_avaje_jsonb",
    ],
 )

@@ -182,7 +184,7 @@ wpilib_java_junit5_test(
        "//wpimath:wpimath-java",
        "//wpiutil:wpiutil-java",
        "@bzlmodrio-opencv//libraries/java/opencv",
-        "@maven//:com_fasterxml_jackson_core_jackson_databind",
+        "@maven//:io_avaje_avaje_jsonb",
    ],
 )

--- a/apriltag/CMakeLists.txt
+++ b/apriltag/CMakeLists.txt
@@ -39,7 +39,7 @@ if(WITH_JAVA)
    set(CMAKE_JNI_TARGET true)

    file(GLOB EJML_JARS "${WPILIB_BINARY_DIR}/wpimath/thirdparty/ejml/*.jar")
-    file(GLOB JACKSON_JARS "${WPILIB_BINARY_DIR}/wpiutil/thirdparty/jackson/*.jar")
+    file(GLOB AVAJE_JARS "${WPILIB_BINARY_DIR}/wpiutil/thirdparty/avaje/*.jar")
    find_file(
        OPENCV_JAR_FILE
        NAMES opencv-${OpenCV_VERSION_MAJOR}${OpenCV_VERSION_MINOR}${OpenCV_VERSION_PATCH}.jar
@@ -69,7 +69,7 @@ if(WITH_JAVA)
            wpiutil_jar
            ${EJML_JARS}
            ${OPENCV_JAR_FILE}
-            ${JACKSON_JARS}
+            ${AVAJE_JARS}
        OUTPUT_NAME apriltag
        OUTPUT_DIR ${WPILIB_BINARY_DIR}/${java_lib_dest}
        GENERATE_NATIVE_HEADERS apriltag_jni_headers
--- a/apriltag/build.gradle
+++ b/apriltag/build.gradle
@@ -46,6 +46,7 @@ apply from: "${rootDir}/shared/opencv.gradle"

 dependencies {
    implementation project(':wpimath')
+    annotationProcessor libs.avaje.jsonb.generator
 }

 sourceSets {
--- a/apriltag/src/main/java/org/wpilib/vision/apriltag/AprilTag.java
+++ b/apriltag/src/main/java/org/wpilib/vision/apriltag/AprilTag.java
@@ -4,8 +4,7 @@

 package org.wpilib.vision.apriltag;

-import com.fasterxml.jackson.annotation.JsonCreator;
-import com.fasterxml.jackson.annotation.JsonProperty;
+import io.avaje.jsonb.Json;
 import java.util.Objects;
 import org.wpilib.math.geometry.Pose3d;
 import org.wpilib.util.RawFrame;
@@ -13,13 +12,14 @@ import org.wpilib.vision.apriltag.jni.AprilTagJNI;

 /** Represents an AprilTag's metadata. */
@SuppressWarnings("MemberName")
+@Json
 public class AprilTag {
  /** The tag's ID. */
-  @JsonProperty(value = "ID")
+  @Json.Property("ID")
  public int ID;

  /** The tag's pose. */
-  @JsonProperty(value = "pose")
+  @Json.Property("pose")
  public Pose3d pose;

  /**
@@ -29,10 +29,8 @@ public class AprilTag {
   * @param pose The tag's pose.
   */
  @SuppressWarnings("ParameterName")
-  @JsonCreator
-  public AprilTag(
-      @JsonProperty(required = true, value = "ID") int ID,
-      @JsonProperty(required = true, value = "pose") Pose3d pose) {
+  @Json.Creator
+  public AprilTag(int ID, Pose3d pose) {
    this.ID = ID;
    this.pose = pose;
  }
--- a/apriltag/src/main/java/org/wpilib/vision/apriltag/AprilTagFieldLayout.java
+++ b/apriltag/src/main/java/org/wpilib/vision/apriltag/AprilTagFieldLayout.java
@@ -4,17 +4,12 @@

 package org.wpilib.vision.apriltag;

-import com.fasterxml.jackson.annotation.JsonAutoDetect;
-import com.fasterxml.jackson.annotation.JsonCreator;
-import com.fasterxml.jackson.annotation.JsonIgnore;
-import com.fasterxml.jackson.annotation.JsonIgnoreProperties;
-import com.fasterxml.jackson.annotation.JsonProperty;
-import com.fasterxml.jackson.databind.ObjectMapper;
+import io.avaje.jsonb.Json;
+import io.avaje.jsonb.Jsonb;
 import java.io.IOException;
 import java.io.InputStream;
-import java.io.InputStreamReader;
 import java.io.UncheckedIOException;
-import java.nio.charset.StandardCharsets;
+import java.nio.file.Files;
 import java.nio.file.Path;
 import java.util.ArrayList;
 import java.util.HashMap;
@@ -43,8 +38,7 @@ import org.wpilib.math.geometry.Translation3d;
 * <p>Tag poses represent the center of the tag, with a zero rotation representing a tag that is
 * upright and facing away from the (blue) alliance wall (that is, towards the opposing alliance).
 */
-@JsonIgnoreProperties(ignoreUnknown = true)
-@JsonAutoDetect(getterVisibility = JsonAutoDetect.Visibility.NONE)
+@Json
 public class AprilTagFieldLayout {
  /** Common origin positions for the AprilTag coordinate system. */
  public enum OriginPosition {
@@ -54,12 +48,12 @@ public class AprilTagFieldLayout {
    kRedAllianceWallRightSide,
  }

-  private final Map<Integer, AprilTag> m_apriltags = new HashMap<>();
+  @Json.Ignore private final Map<Integer, AprilTag> m_apriltags = new HashMap<>();

-  @JsonProperty(value = "field")
-  private FieldDimensions m_fieldDimensions;
+  @Json.Property("field")
+  FieldDimensions m_fieldDimensions;

-  private Pose3d m_origin;
+  @Json.Ignore private Pose3d m_origin;

  /**
   * Construct a new AprilTagFieldLayout with values imported from a JSON file.
@@ -79,7 +73,7 @@ public class AprilTagFieldLayout {
   */
  public AprilTagFieldLayout(Path path) throws IOException {
    AprilTagFieldLayout layout =
-        new ObjectMapper().readValue(path.toFile(), AprilTagFieldLayout.class);
+        Jsonb.instance().type(AprilTagFieldLayout.class).fromJson(Files.newBufferedReader(path));
    m_apriltags.putAll(layout.m_apriltags);
    m_fieldDimensions = layout.m_fieldDimensions;
    setOrigin(OriginPosition.kBlueAllianceWallRightSide);
@@ -96,10 +90,10 @@ public class AprilTagFieldLayout {
    this(apriltags, new FieldDimensions(fieldLength, fieldWidth));
  }

-  @JsonCreator
-  private AprilTagFieldLayout(
-      @JsonProperty(required = true, value = "tags") List<AprilTag> apriltags,
-      @JsonProperty(required = true, value = "field") FieldDimensions fieldDimensions) {
+  @Json.Creator
+  AprilTagFieldLayout(
+      @Json.Alias("tags") List<AprilTag> apriltags,
+      @Json.Alias("field") FieldDimensions fieldDimensions) {
    // To ensure the underlying semantics don't change with what kind of list is passed in
    for (AprilTag tag : apriltags) {
      m_apriltags.put(tag.ID, tag);
@@ -113,7 +107,7 @@ public class AprilTagFieldLayout {
   *
   * @return The {@link AprilTag AprilTags} used in this layout.
   */
-  @JsonProperty("tags")
+  @Json.Property("tags")
  public List<AprilTag> getTags() {
    return new ArrayList<>(m_apriltags.values());
  }
@@ -123,7 +117,6 @@ public class AprilTagFieldLayout {
   *
   * @return length, in meters
   */
-  @JsonIgnore
  public double getFieldLength() {
    return m_fieldDimensions.fieldLength;
  }
@@ -133,7 +126,6 @@ public class AprilTagFieldLayout {
   *
   * @return width, in meters
   */
-  @JsonIgnore
  public double getFieldWidth() {
    return m_fieldDimensions.fieldWidth;
  }
@@ -147,7 +139,6 @@ public class AprilTagFieldLayout {
   *
   * @param origin The predefined origin
   */
-  @JsonIgnore
  public final void setOrigin(OriginPosition origin) {
    var pose =
        switch (origin) {
@@ -168,7 +159,6 @@ public class AprilTagFieldLayout {
   *
   * @param origin The new origin for tag transformations
   */
-  @JsonIgnore
  public final void setOrigin(Pose3d origin) {
    m_origin = origin;
  }
@@ -178,7 +168,6 @@ public class AprilTagFieldLayout {
   *
   * @return the origin
   */
-  @JsonIgnore
  public Pose3d getOrigin() {
    return m_origin;
  }
@@ -216,7 +205,7 @@ public class AprilTagFieldLayout {
   * @throws IOException If writing to the file fails.
   */
  public void serialize(Path path) throws IOException {
-    new ObjectMapper().writeValue(path.toFile(), this);
+    Jsonb.instance().type(AprilTagFieldLayout.class).toJson(this, Files.newBufferedWriter(path));
  }

  /**
@@ -253,16 +242,12 @@ public class AprilTagFieldLayout {
   * @throws IOException If the resource could not be loaded
   */
  public static AprilTagFieldLayout loadFromResource(String resourcePath) throws IOException {
-    InputStream stream = AprilTagFieldLayout.class.getResourceAsStream(resourcePath);
-    if (stream == null) {
-      // Class.getResourceAsStream() returns null if the resource does not exist.
-      throw new IOException("Could not locate resource: " + resourcePath);
-    }
-    InputStreamReader reader = new InputStreamReader(stream, StandardCharsets.UTF_8);
-    try {
-      return new ObjectMapper().readerFor(AprilTagFieldLayout.class).readValue(reader);
-    } catch (IOException e) {
-      throw new IOException("Failed to load AprilTagFieldLayout: " + resourcePath);
+    try (InputStream stream = AprilTagFieldLayout.class.getResourceAsStream(resourcePath)) {
+      if (stream == null) {
+        // Class.getResourceAsStream() returns null if the resource does not exist.
+        throw new IOException("Could not locate resource: " + resourcePath);
+      }
+      return Jsonb.instance().type(AprilTagFieldLayout.class).fromJson(stream);
    }
  }

@@ -278,21 +263,19 @@ public class AprilTagFieldLayout {
    return Objects.hash(m_apriltags, m_origin);
  }

-  @JsonIgnoreProperties(ignoreUnknown = true)
-  @JsonAutoDetect(getterVisibility = JsonAutoDetect.Visibility.NONE)
-  private static class FieldDimensions {
+  static class FieldDimensions {
    @SuppressWarnings("MemberName")
-    @JsonProperty(value = "length")
+    @Json.Property(value = "length")
    public final double fieldLength;

    @SuppressWarnings("MemberName")
-    @JsonProperty(value = "width")
+    @Json.Property(value = "width")
    public final double fieldWidth;

-    @JsonCreator()
+    @Json.Creator()
    FieldDimensions(
-        @JsonProperty(required = true, value = "length") double fieldLength,
-        @JsonProperty(required = true, value = "width") double fieldWidth) {
+        @Json.Alias(value = "length") double fieldLength,
+        @Json.Alias(value = "width") double fieldWidth) {
      this.fieldLength = fieldLength;
      this.fieldWidth = fieldWidth;
    }
--- a/apriltag/src/test/java/org/wpilib/vision/apriltag/AprilTagSerializationTest.java
+++ b/apriltag/src/test/java/org/wpilib/vision/apriltag/AprilTagSerializationTest.java
@@ -7,7 +7,7 @@ package org.wpilib.vision.apriltag;
 import static org.junit.jupiter.api.Assertions.assertDoesNotThrow;
 import static org.junit.jupiter.api.Assertions.assertEquals;

-import com.fasterxml.jackson.databind.ObjectMapper;
+import io.avaje.jsonb.Jsonb;
 import java.util.List;
 import org.junit.jupiter.api.Test;
 import org.wpilib.math.geometry.Pose3d;
@@ -25,13 +25,9 @@ class AprilTagSerializationTest {
            Units.feetToMeters(54.0),
            Units.feetToMeters(27.0));

-    var objectMapper = new ObjectMapper();
+    var layoutType = Jsonb.instance().type(AprilTagFieldLayout.class);

-    var deserialized =
-        assertDoesNotThrow(
-            () ->
-                objectMapper.readValue(
-                    objectMapper.writeValueAsString(layout), AprilTagFieldLayout.class));
+    var deserialized = assertDoesNotThrow(() -> layoutType.fromJson(layoutType.toJson(layout)));

    assertEquals(layout, deserialized);
  }
--- a/benchmark/build.gradle
+++ b/benchmark/build.gradle
@@ -37,6 +37,11 @@ application {

 apply plugin: 'com.gradleup.shadow'

+shadowJar {
+    mergeServiceFiles()
+    duplicatesStrategy = DuplicatesStrategy.INCLUDE
+}
+
 repositories {
    maven {
        url = 'https://frcmaven.wpi.edu/artifactory/ex-mvn'
--- a/commandsv2/CMakeLists.txt
+++ b/commandsv2/CMakeLists.txt
@@ -8,14 +8,14 @@ if(WITH_JAVA)
    include(UseJava)

    file(GLOB_RECURSE JAVA_SOURCES src/main/java/*.java src/generated/main/java/*.java)
-    file(GLOB JACKSON_JARS "${WPILIB_BINARY_DIR}/wpiutil/thirdparty/jackson/*.jar")
+    file(GLOB AVAJE_JARS "${WPILIB_BINARY_DIR}/wpiutil/thirdparty/avaje/*.jar")
    add_jar(
        commandsv2_jar
        ${JAVA_SOURCES}
        INCLUDE_JARS
            hal_jar
            ntcore_jar
-            ${JACKSON_JARS}
+            ${AVAJE_JARS}
            cscore_jar
            cameraserver_jar
            wpimath_jar
--- a/fields/BUILD.bazel
+++ b/fields/BUILD.bazel
@@ -38,12 +38,15 @@ wpilib_java_library(
    extra_source_pkgs = ["resources"],
    maven_artifact_name = "fields-java",
    maven_group_id = "org.wpilib.fields",
+    plugins = [
+        "//:avaje_jsonb_generator",
+    ],
    resource_strip_prefix = "fields/src/main/native/resources",
    resources = glob(["src/main/native/resources/**"]),
    visibility = ["//visibility:public"],
    deps = [
-        "@maven//:com_fasterxml_jackson_core_jackson_annotations",
-        "@maven//:com_fasterxml_jackson_core_jackson_databind",
+        "@maven//:io_avaje_avaje_json_core",
+        "@maven//:io_avaje_avaje_jsonb",
    ],
 )

--- a/fields/CMakeLists.txt
+++ b/fields/CMakeLists.txt
@@ -6,7 +6,7 @@ include(GenResources)
 if(WITH_JAVA)
    include(UseJava)

-    file(GLOB JACKSON_JARS "${WPILIB_BINARY_DIR}/wpiutil/thirdparty/jackson/*.jar")
+    file(GLOB AVAJE_JARS "${WPILIB_BINARY_DIR}/wpiutil/thirdparty/avaje/*.jar")

    file(GLOB_RECURSE JAVA_SOURCES src/main/java/*.java)
    file(
@@ -21,7 +21,7 @@ if(WITH_JAVA)
        SOURCES ${JAVA_SOURCES}
        RESOURCES
        NAMESPACE "org/wpilib/fields" ${JAVA_RESOURCES}
-        INCLUDE_JARS ${JACKSON_JARS}
+        INCLUDE_JARS ${AVAJE_JARS}
        OUTPUT_DIR ${WPILIB_BINARY_DIR}/${java_lib_dest}
        OUTPUT_NAME fields
    )
--- a/fields/build.gradle
+++ b/fields/build.gradle
@@ -14,7 +14,8 @@ if (OperatingSystem.current().isWindows()) {
 }

 dependencies {
-    implementation libs.bundles.jackson
+    annotationProcessor libs.avaje.jsonb.generator
+    implementation libs.avaje.jsonb
 }

 ext {
--- a/fields/src/main/java/org/wpilib/fields/FieldConfig.java
+++ b/fields/src/main/java/org/wpilib/fields/FieldConfig.java
@@ -4,39 +4,38 @@

 package org.wpilib.fields;

-import com.fasterxml.jackson.annotation.JsonProperty;
-import com.fasterxml.jackson.databind.ObjectMapper;
+import io.avaje.jsonb.Json;
+import io.avaje.jsonb.Jsonb;
 import java.io.BufferedReader;
 import java.io.IOException;
 import java.io.InputStream;
-import java.io.InputStreamReader;
 import java.net.URL;
-import java.nio.charset.StandardCharsets;
 import java.nio.file.Files;
 import java.nio.file.Path;

+@Json
 public class FieldConfig {
  public static class Corners {
-    @JsonProperty("top-left")
+    @Json.Property("top-left")
    public double[] m_topLeft;

-    @JsonProperty("bottom-right")
+    @Json.Property("bottom-right")
    public double[] m_bottomRight;
  }

-  @JsonProperty("game")
+  @Json.Property("game")
  public String m_game;

-  @JsonProperty("field-image")
+  @Json.Property("field-image")
  public String m_fieldImage;

-  @JsonProperty("field-corners")
+  @Json.Property("field-corners")
  public Corners m_fieldCorners;

-  @JsonProperty("field-size")
+  @Json.Property("field-size")
  public double[] m_fieldSize;

-  @JsonProperty("field-unit")
+  @Json.Property("field-unit")
  public String m_fieldUnit;

  public FieldConfig() {}
@@ -69,7 +68,7 @@ public class FieldConfig {
   */
  public static FieldConfig loadFromFile(Path file) throws IOException {
    try (BufferedReader reader = Files.newBufferedReader(file)) {
-      return new ObjectMapper().readerFor(FieldConfig.class).readValue(reader);
+      return Jsonb.instance().type(FieldConfig.class).fromJson(reader);
    }
  }

@@ -81,9 +80,8 @@ public class FieldConfig {
   * @throws IOException Throws if the resource could not be loaded
   */
  public static FieldConfig loadFromResource(String resourcePath) throws IOException {
-    try (InputStream stream = FieldConfig.class.getResourceAsStream(resourcePath);
-        InputStreamReader reader = new InputStreamReader(stream, StandardCharsets.UTF_8)) {
-      return new ObjectMapper().readerFor(FieldConfig.class).readValue(reader);
+    try (InputStream stream = FieldConfig.class.getResourceAsStream(resourcePath)) {
+      return Jsonb.instance().type(FieldConfig.class).fromJson(stream);
    }
  }
 }
--- a/gradle/libs.versions.toml
+++ b/gradle/libs.versions.toml
@@ -1,6 +1,6 @@
 [versions]
+avaje = "3.11"
 ejml = "0.44.0"
-jackson = "2.19.2"
 jmh = "1.37"
 opencv = "4.10.0-3"
 thirdparty-year = "frc2025" # Note: this also appears in the opencv module name in the libraries section
@@ -8,11 +8,10 @@ quickbuf = "1.4"

 [libraries]
 # General runtime dependencies
+avaje-jsonb = { module = "io.avaje:avaje-jsonb", version.ref = "avaje" }
+avaje-jsonb-generator = { module = "io.avaje:avaje-jsonb-generator", version.ref = "avaje" }
 ejml-simple = { module = "org.ejml:ejml-simple", version.ref = "ejml" } # also pulls in other EJML modules as transitive dependencies
 gson = { module = "com.google.code.gson:gson", version = "2.13.1" }
-jackson-annotations = { module = "com.fasterxml.jackson.core:jackson-annotations", version.ref = "jackson" }
-jackson-core = { module = "com.fasterxml.jackson.core:jackson-core", version.ref = "jackson" }
-jackson-databind = { module = "com.fasterxml.jackson.core:jackson-databind", version.ref = "jackson" }
 quickbuf-runtime = { module = "us.hebi.quickbuf:quickbuf-runtime", version.ref = "quickbuf" }
 thirdparty-opencv = { module = "edu.wpi.first.thirdparty.frc2025.opencv:opencv-java", version.ref = "opencv" }

@@ -32,7 +31,6 @@ wpilib-native-utils = { module = "org.wpilib:native-utils", version = "2027.5.1"

 [bundles]
 ejml = ["ejml-simple"]
-jackson = ["jackson-annotations", "jackson-core", "jackson-databind"]
 mockito = ["mockito-core"]
 # junit api and launcher artifacts are different dependency types (implementation and runtime, respectively),
 # so it doesn't make sense to bundle them in a single "junit" bundle
--- a/maven_install.json
+++ b/maven_install.json
@@ -1,29 +1,11 @@
 {
  "__AUTOGENERATED_FILE_DO_NOT_MODIFY_THIS_FILE_MANUALLY": "THERE_IS_NO_DATA_ONLY_ZUUL",
-  "__INPUT_ARTIFACTS_HASH": -473291874,
-  "__RESOLVED_ARTIFACTS_HASH": -2131718891,
+  "__INPUT_ARTIFACTS_HASH": -1041456735,
+  "__RESOLVED_ARTIFACTS_HASH": 1647610835,
  "conflict_resolution": {
    "com.google.errorprone:error_prone_annotations:2.5.1": "com.google.errorprone:error_prone_annotations:2.38.0"
  },
  "artifacts": {
-    "com.fasterxml.jackson.core:jackson-annotations": {
-      "shasums": {
-        "jar": "e516743a316dcf83c572ffc9cb6e8c5e8c134880c8c5155b02f7b34e9c5dc3cf"
-      },
-      "version": "2.19.2"
-    },
-    "com.fasterxml.jackson.core:jackson-core": {
-      "shasums": {
-        "jar": "aa77eaf29293a868c47372194f7c5287d77d9370b04ea25d3fffc1e4904b5880"
-      },
-      "version": "2.19.2"
-    },
-    "com.fasterxml.jackson.core:jackson-databind": {
-      "shasums": {
-        "jar": "0a1bd4e9b0d670e632d40ee8c625ad376233502f03c2f5889baea95d025b47a7"
-      },
-      "version": "2.19.2"
-    },
    "com.google.auto.value:auto-value": {
      "shasums": {
        "jar": "7ca3edd75517fcc8bfc420fda15d2ae2e89ebd6ed477b351caa746e44b2d5603"
@@ -114,6 +96,42 @@
      },
      "version": "4.10.0-3"
    },
+    "io.avaje:avaje-json-core": {
+      "shasums": {
+        "jar": "9a784937ea8fe888effa0056a0acc48d07b0cad6fbe5a1e6a72f3928545aab61"
+      },
+      "version": "3.11"
+    },
+    "io.avaje:avaje-jsonb": {
+      "shasums": {
+        "jar": "65a575f5eaa0cecf262de37ca91e0129d7857135f2d2d9b2e1e2dbdc502a95ce"
+      },
+      "version": "3.11"
+    },
+    "io.avaje:avaje-jsonb-generator": {
+      "shasums": {
+        "jar": "ef6b65d640b192b43d5bbeef597275e00dc9fbd9a990059d03769f7259d0bcea"
+      },
+      "version": "3.11"
+    },
+    "io.avaje:avaje-jsonb-inject-plugin": {
+      "shasums": {
+        "jar": "bc45b5e6b0624921a2cb2f9da69c31cf068619609857e1422332ce3bef022377"
+      },
+      "version": "3.11"
+    },
+    "io.avaje:avaje-spi-core": {
+      "shasums": {
+        "jar": "32ba914b9bed7da26fa40743fda4f300c393df020f76aa0176f817829c3918c5"
+      },
+      "version": "2.16"
+    },
+    "io.avaje:avaje-spi-service": {
+      "shasums": {
+        "jar": "8d8826d60e7fcebbb7b7a4f0832878cd12c280d9829dc6a206034b9ae1cfa73d"
+      },
+      "version": "2.16"
+    },
    "junit:junit": {
      "shasums": {
        "jar": "8e495b634469d64fb8acfa3495a065cbacc8a0fff55ce1e31007be4c16dc57d3"
@@ -314,10 +332,6 @@
    }
  },
  "dependencies": {
-    "com.fasterxml.jackson.core:jackson-databind": [
-      "com.fasterxml.jackson.core:jackson-annotations",
-      "com.fasterxml.jackson.core:jackson-core"
-    ],
    "com.google.auto:auto-common": [
      "com.google.guava:guava"
    ],
@@ -354,6 +368,16 @@
      "org.hamcrest:hamcrest-library",
      "org.mockito:mockito-core"
    ],
+    "io.avaje:avaje-jsonb": [
+      "io.avaje:avaje-json-core",
+      "io.avaje:avaje-jsonb-inject-plugin"
+    ],
+    "io.avaje:avaje-jsonb-generator": [
+      "io.avaje:avaje-spi-service"
+    ],
+    "io.avaje:avaje-spi-service": [
+      "io.avaje:avaje-spi-core"
+    ],
    "junit:junit": [
      "org.hamcrest:hamcrest-core"
    ],
@@ -442,50 +466,6 @@
    ]
  },
  "packages": {
-    "com.fasterxml.jackson.core:jackson-annotations": [
-      "com.fasterxml.jackson.annotation"
-    ],
-    "com.fasterxml.jackson.core:jackson-core": [
-      "com.fasterxml.jackson.core",
-      "com.fasterxml.jackson.core.async",
-      "com.fasterxml.jackson.core.base",
-      "com.fasterxml.jackson.core.exc",
-      "com.fasterxml.jackson.core.filter",
-      "com.fasterxml.jackson.core.format",
-      "com.fasterxml.jackson.core.internal.shaded.fdp.v2_19_2",
-      "com.fasterxml.jackson.core.io",
-      "com.fasterxml.jackson.core.io.schubfach",
-      "com.fasterxml.jackson.core.json",
-      "com.fasterxml.jackson.core.json.async",
-      "com.fasterxml.jackson.core.sym",
-      "com.fasterxml.jackson.core.type",
-      "com.fasterxml.jackson.core.util"
-    ],
-    "com.fasterxml.jackson.core:jackson-databind": [
-      "com.fasterxml.jackson.databind",
-      "com.fasterxml.jackson.databind.annotation",
-      "com.fasterxml.jackson.databind.cfg",
-      "com.fasterxml.jackson.databind.deser",
-      "com.fasterxml.jackson.databind.deser.impl",
-      "com.fasterxml.jackson.databind.deser.std",
-      "com.fasterxml.jackson.databind.exc",
-      "com.fasterxml.jackson.databind.ext",
-      "com.fasterxml.jackson.databind.introspect",
-      "com.fasterxml.jackson.databind.jdk14",
-      "com.fasterxml.jackson.databind.json",
-      "com.fasterxml.jackson.databind.jsonFormatVisitors",
-      "com.fasterxml.jackson.databind.jsonschema",
-      "com.fasterxml.jackson.databind.jsontype",
-      "com.fasterxml.jackson.databind.jsontype.impl",
-      "com.fasterxml.jackson.databind.module",
-      "com.fasterxml.jackson.databind.node",
-      "com.fasterxml.jackson.databind.ser",
-      "com.fasterxml.jackson.databind.ser.impl",
-      "com.fasterxml.jackson.databind.ser.std",
-      "com.fasterxml.jackson.databind.type",
-      "com.fasterxml.jackson.databind.util",
-      "com.fasterxml.jackson.databind.util.internal"
-    ],
    "com.google.auto.value:auto-value": [
      "autovalue.shaded.com.google.auto.common",
      "autovalue.shaded.com.google.auto.service",
@@ -647,6 +627,31 @@
      "org.opencv.video",
      "org.opencv.videoio"
    ],
+    "io.avaje:avaje-json-core": [
+      "io.avaje.json",
+      "io.avaje.json.core",
+      "io.avaje.json.mapper",
+      "io.avaje.json.stream",
+      "io.avaje.json.stream.core",
+      "io.avaje.json.view"
+    ],
+    "io.avaje:avaje-jsonb": [
+      "io.avaje.jsonb",
+      "io.avaje.jsonb.core",
+      "io.avaje.jsonb.spi"
+    ],
+    "io.avaje:avaje-jsonb-generator": [
+      "io.avaje.jsonb.generator"
+    ],
+    "io.avaje:avaje-jsonb-inject-plugin": [
+      "io.avaje.jsonb.inject"
+    ],
+    "io.avaje:avaje-spi-core": [
+      "io.avaje.spi.internal"
+    ],
+    "io.avaje:avaje-spi-service": [
+      "io.avaje.spi"
+    ],
    "junit:junit": [
      "junit.extensions",
      "junit.framework",
@@ -1178,9 +1183,6 @@
  },
  "repositories": {
    "https://frcmaven.wpi.edu/artifactory/release/": [
-      "com.fasterxml.jackson.core:jackson-annotations",
-      "com.fasterxml.jackson.core:jackson-core",
-      "com.fasterxml.jackson.core:jackson-databind",
      "com.google.auto.value:auto-value",
      "com.google.auto.value:auto-value-annotations",
      "com.google.auto:auto-common",
@@ -1196,6 +1198,12 @@
      "com.googlecode.junit-toolbox:junit-toolbox",
      "commons-io:commons-io",
      "edu.wpi.first.thirdparty.frc2025.opencv:opencv-java",
+      "io.avaje:avaje-json-core",
+      "io.avaje:avaje-jsonb",
+      "io.avaje:avaje-jsonb-generator",
+      "io.avaje:avaje-jsonb-inject-plugin",
+      "io.avaje:avaje-spi-core",
+      "io.avaje:avaje-spi-service",
      "junit:junit",
      "net.bytebuddy:byte-buddy",
      "net.bytebuddy:byte-buddy-agent",
@@ -1231,9 +1239,6 @@
      "us.hebi.quickbuf:quickbuf-runtime"
    ],
    "https://repo1.maven.org/maven2/": [
-      "com.fasterxml.jackson.core:jackson-annotations",
-      "com.fasterxml.jackson.core:jackson-core",
-      "com.fasterxml.jackson.core:jackson-databind",
      "com.google.auto.value:auto-value",
      "com.google.auto.value:auto-value-annotations",
      "com.google.auto:auto-common",
@@ -1249,6 +1254,12 @@
      "com.googlecode.junit-toolbox:junit-toolbox",
      "commons-io:commons-io",
      "edu.wpi.first.thirdparty.frc2025.opencv:opencv-java",
+      "io.avaje:avaje-json-core",
+      "io.avaje:avaje-jsonb",
+      "io.avaje:avaje-jsonb-generator",
+      "io.avaje:avaje-jsonb-inject-plugin",
+      "io.avaje:avaje-spi-core",
+      "io.avaje:avaje-spi-service",
      "junit:junit",
      "net.bytebuddy:byte-buddy",
      "net.bytebuddy:byte-buddy-agent",
@@ -1285,16 +1296,6 @@
    ]
  },
  "services": {
-    "com.fasterxml.jackson.core:jackson-core": {
-      "com.fasterxml.jackson.core.JsonFactory": [
-        "com.fasterxml.jackson.core.JsonFactory"
-      ]
-    },
-    "com.fasterxml.jackson.core:jackson-databind": {
-      "com.fasterxml.jackson.core.ObjectCodec": [
-        "com.fasterxml.jackson.databind.ObjectMapper"
-      ]
-    },
    "com.google.auto.value:auto-value": {
      "autovalue.shaded.kotlinx.metadata.impl.extensions.MetadataExtensions": [
        "autovalue.shaded.kotlinx.metadata.jvm.impl.JvmMetadataExtensions"
@@ -1319,6 +1320,26 @@
        "com.google.auto.value.processor.AutoValueProcessor"
      ]
    },
+    "io.avaje:avaje-jsonb-generator": {
+      "javax.annotation.processing.Processor": [
+        "io.avaje.jsonb.generator.JsonbProcessor"
+      ]
+    },
+    "io.avaje:avaje-jsonb-inject-plugin": {
+      "io.avaje.inject.spi.InjectExtension": [
+        "io.avaje.jsonb.inject.DefaultJsonbProvider"
+      ]
+    },
+    "io.avaje:avaje-spi-core": {
+      "javax.annotation.processing.Processor": [
+        "io.avaje.spi.internal.ServiceProcessor"
+      ]
+    },
+    "io.avaje:avaje-spi-service": {
+      "javax.annotation.processing.Processor": [
+        "io.avaje.spi.internal.ServiceProcessor"
+      ]
+    },
    "org.junit.jupiter:junit-jupiter-engine": {
      "org.junit.platform.engine.TestEngine": [
        "org.junit.jupiter.engine.JupiterTestEngine"
--- a/wpilibj/CMakeLists.txt
+++ b/wpilibj/CMakeLists.txt
@@ -24,7 +24,7 @@ if(WITH_JAVA)

    file(GLOB_RECURSE JAVA_SOURCES src/main/java/*.java src/generated/main/java/*.java)
    file(GLOB EJML_JARS "${WPILIB_BINARY_DIR}/wpimath/thirdparty/ejml/*.jar")
-    file(GLOB JACKSON_JARS "${WPILIB_BINARY_DIR}/wpiutil/thirdparty/jackson/*.jar")
+    file(GLOB AVAJE_JARS "${WPILIB_BINARY_DIR}/wpiutil/thirdparty/avaje/*.jar")

    add_jar(
        wpilibj_jar
@@ -34,7 +34,7 @@ if(WITH_JAVA)
            hal_jar
            ntcore_jar
            ${EJML_JARS}
-            ${JACKSON_JARS}
+            ${AVAJE_JARS}
            ${OPENCV_JAR_FILE}
            cscore_jar
            cameraserver_jar
--- a/wpimath/BUILD.bazel
+++ b/wpimath/BUILD.bazel
@@ -242,15 +242,17 @@ wpilib_jni_java_library(
    maven_artifact_name = "wpimath-java",
    maven_group_id = "org.wpilib.wpimath",
    native_libs = [":wpimathjni"],
+    plugins = [
+        "//:avaje_jsonb_generator",
+    ],
    resource_strip_prefix = "wpimath/src/main/proto",
    resources = glob(["src/main/proto/**"]),
    visibility = ["//visibility:public"],
    deps = [
        "//wpiunits:wpiunits-java",
        "//wpiutil:wpiutil-java",
-        "@maven//:com_fasterxml_jackson_core_jackson_annotations",
-        "@maven//:com_fasterxml_jackson_core_jackson_core",
-        "@maven//:com_fasterxml_jackson_core_jackson_databind",
+        "@maven//:io_avaje_avaje_json_core",
+        "@maven//:io_avaje_avaje_jsonb",
        "@maven//:org_ejml_ejml_core",
        "@maven//:org_ejml_ejml_ddense",
        "@maven//:org_ejml_ejml_simple",
--- a/wpimath/CMakeLists.txt
+++ b/wpimath/CMakeLists.txt
@@ -64,7 +64,7 @@ if(WITH_JAVA)
    endif()

    file(GLOB EJML_JARS "${WPILIB_BINARY_DIR}/wpimath/thirdparty/ejml/*.jar")
-    file(GLOB JACKSON_JARS "${WPILIB_BINARY_DIR}/wpiutil/thirdparty/jackson/*.jar")
+    file(GLOB AVAJE_JARS "${WPILIB_BINARY_DIR}/wpiutil/thirdparty/avaje/*.jar")
    file(GLOB QUICKBUF_JAR ${WPILIB_BINARY_DIR}/wpiutil/thirdparty/quickbuf/*.jar)

    set(CMAKE_JNI_TARGET true)
@@ -74,7 +74,7 @@ if(WITH_JAVA)
    add_jar(
        wpimath_jar
        ${JAVA_SOURCES}
-        INCLUDE_JARS wpiutil_jar wpiunits_jar ${EJML_JARS} ${JACKSON_JARS} ${QUICKBUF_JAR}
+        INCLUDE_JARS wpiutil_jar wpiunits_jar ${EJML_JARS} ${AVAJE_JARS} ${QUICKBUF_JAR}
        OUTPUT_NAME wpimath
        OUTPUT_DIR ${WPILIB_BINARY_DIR}/${java_lib_dest}
        GENERATE_NATIVE_HEADERS wpimath_jni_headers
--- a/wpimath/build.gradle
+++ b/wpimath/build.gradle
@@ -88,9 +88,10 @@ nativeUtils.exportsConfigs {
 }

 dependencies {
+    annotationProcessor libs.avaje.jsonb.generator
    api project(":wpiunits")
+    api libs.avaje.jsonb
    api libs.bundles.ejml
-    api libs.bundles.jackson
    api libs.quickbuf.runtime
 }

--- a/wpimath/src/main/java/org/wpilib/math/geometry/Pose2d.java
+++ b/wpimath/src/main/java/org/wpilib/math/geometry/Pose2d.java
@@ -6,10 +6,7 @@ package org.wpilib.math.geometry;

 import static org.wpilib.units.Units.Meters;

-import com.fasterxml.jackson.annotation.JsonAutoDetect;
-import com.fasterxml.jackson.annotation.JsonCreator;
-import com.fasterxml.jackson.annotation.JsonIgnoreProperties;
-import com.fasterxml.jackson.annotation.JsonProperty;
+import io.avaje.jsonb.Json;
 import java.util.Collection;
 import java.util.Collections;
 import java.util.Comparator;
@@ -26,8 +23,7 @@ import org.wpilib.util.protobuf.ProtobufSerializable;
 import org.wpilib.util.struct.StructSerializable;

 /** Represents a 2D pose containing translational and rotational elements. */
-@JsonIgnoreProperties(ignoreUnknown = true)
-@JsonAutoDetect(getterVisibility = JsonAutoDetect.Visibility.NONE)
+@Json
 public class Pose2d implements Interpolatable<Pose2d>, ProtobufSerializable, StructSerializable {
  /**
   * A preallocated Pose2d representing the origin.
@@ -36,7 +32,10 @@ public class Pose2d implements Interpolatable<Pose2d>, ProtobufSerializable, Str
   */
  public static final Pose2d kZero = new Pose2d();

+  @Json.Property("translation")
  private final Translation2d m_translation;
+
+  @Json.Property("rotation")
  private final Rotation2d m_rotation;

  /** Constructs a pose at the origin facing toward the positive X axis. */
@@ -51,10 +50,8 @@ public class Pose2d implements Interpolatable<Pose2d>, ProtobufSerializable, Str
   * @param translation The translational component of the pose.
   * @param rotation The rotational component of the pose.
   */
-  @JsonCreator
-  public Pose2d(
-      @JsonProperty(required = true, value = "translation") Translation2d translation,
-      @JsonProperty(required = true, value = "rotation") Rotation2d rotation) {
+  @Json.Creator
+  public Pose2d(Translation2d translation, Rotation2d rotation) {
    m_translation = translation;
    m_rotation = rotation;
  }
@@ -129,7 +126,6 @@ public class Pose2d implements Interpolatable<Pose2d>, ProtobufSerializable, Str
   *
   * @return The translational component of the pose.
   */
-  @JsonProperty
  public Translation2d getTranslation() {
    return m_translation;
  }
@@ -175,7 +171,6 @@ public class Pose2d implements Interpolatable<Pose2d>, ProtobufSerializable, Str
   *
   * @return The rotational component of the pose.
   */
-  @JsonProperty
  public Rotation2d getRotation() {
    return m_rotation;
  }
--- a/wpimath/src/main/java/org/wpilib/math/geometry/Pose3d.java
+++ b/wpimath/src/main/java/org/wpilib/math/geometry/Pose3d.java
@@ -6,10 +6,7 @@ package org.wpilib.math.geometry;

 import static org.wpilib.units.Units.Meters;

-import com.fasterxml.jackson.annotation.JsonAutoDetect;
-import com.fasterxml.jackson.annotation.JsonCreator;
-import com.fasterxml.jackson.annotation.JsonIgnoreProperties;
-import com.fasterxml.jackson.annotation.JsonProperty;
+import io.avaje.jsonb.Json;
 import java.util.Collection;
 import java.util.Collections;
 import java.util.Comparator;
@@ -26,8 +23,7 @@ import org.wpilib.util.protobuf.ProtobufSerializable;
 import org.wpilib.util.struct.StructSerializable;

 /** Represents a 3D pose containing translational and rotational elements. */
-@JsonIgnoreProperties(ignoreUnknown = true)
-@JsonAutoDetect(getterVisibility = JsonAutoDetect.Visibility.NONE)
+@Json
 public class Pose3d implements Interpolatable<Pose3d>, ProtobufSerializable, StructSerializable {
  /**
   * A preallocated Pose3d representing the origin.
@@ -36,7 +32,10 @@ public class Pose3d implements Interpolatable<Pose3d>, ProtobufSerializable, Str
   */
  public static final Pose3d kZero = new Pose3d();

+  @Json.Property("translation")
  private final Translation3d m_translation;
+
+  @Json.Property("rotation")
  private final Rotation3d m_rotation;

  /** Constructs a pose at the origin facing toward the positive X axis. */
@@ -51,10 +50,8 @@ public class Pose3d implements Interpolatable<Pose3d>, ProtobufSerializable, Str
   * @param translation The translational component of the pose.
   * @param rotation The rotational component of the pose.
   */
-  @JsonCreator
-  public Pose3d(
-      @JsonProperty(required = true, value = "translation") Translation3d translation,
-      @JsonProperty(required = true, value = "rotation") Rotation3d rotation) {
+  @Json.Creator
+  public Pose3d(Translation3d translation, Rotation3d rotation) {
    m_translation = translation;
    m_rotation = rotation;
  }
@@ -143,7 +140,6 @@ public class Pose3d implements Interpolatable<Pose3d>, ProtobufSerializable, Str
   *
   * @return The translational component of the pose.
   */
-  @JsonProperty
  public Translation3d getTranslation() {
    return m_translation;
  }
@@ -207,7 +203,6 @@ public class Pose3d implements Interpolatable<Pose3d>, ProtobufSerializable, Str
   *
   * @return The rotational component of the pose.
   */
-  @JsonProperty
  public Rotation3d getRotation() {
    return m_rotation;
  }
--- a/wpimath/src/main/java/org/wpilib/math/geometry/Quaternion.java
+++ b/wpimath/src/main/java/org/wpilib/math/geometry/Quaternion.java
@@ -4,10 +4,7 @@

 package org.wpilib.math.geometry;

-import com.fasterxml.jackson.annotation.JsonAutoDetect;
-import com.fasterxml.jackson.annotation.JsonCreator;
-import com.fasterxml.jackson.annotation.JsonIgnoreProperties;
-import com.fasterxml.jackson.annotation.JsonProperty;
+import io.avaje.jsonb.Json;
 import java.util.Objects;
 import org.wpilib.math.geometry.proto.QuaternionProto;
 import org.wpilib.math.geometry.struct.QuaternionStruct;
@@ -18,16 +15,15 @@ import org.wpilib.util.protobuf.ProtobufSerializable;
 import org.wpilib.util.struct.StructSerializable;

 /** Represents a quaternion. */
-@JsonIgnoreProperties(ignoreUnknown = true)
-@JsonAutoDetect(getterVisibility = JsonAutoDetect.Visibility.NONE)
+@Json
 public class Quaternion implements ProtobufSerializable, StructSerializable {
  // Scalar r in versor form
-  private final double m_w;
+  @Json.Ignore private final double m_w;

  // Vector v in versor form
-  private final double m_x;
-  private final double m_y;
-  private final double m_z;
+  @Json.Ignore private final double m_x;
+  @Json.Ignore private final double m_y;
+  @Json.Ignore private final double m_z;

  /** Constructs a quaternion with a default angle of 0 degrees. */
  public Quaternion() {
@@ -45,12 +41,12 @@ public class Quaternion implements ProtobufSerializable, StructSerializable {
   * @param y Y component of the quaternion.
   * @param z Z component of the quaternion.
   */
-  @JsonCreator
+  @Json.Creator
  public Quaternion(
-      @JsonProperty(required = true, value = "W") double w,
-      @JsonProperty(required = true, value = "X") double x,
-      @JsonProperty(required = true, value = "Y") double y,
-      @JsonProperty(required = true, value = "Z") double z) {
+      @Json.Alias("W") double w,
+      @Json.Alias("X") double x,
+      @Json.Alias("Y") double y,
+      @Json.Alias("Z") double z) {
    m_w = w;
    m_x = x;
    m_y = y;
@@ -291,7 +287,7 @@ public class Quaternion implements ProtobufSerializable, StructSerializable {
   *
   * @return W component of the quaternion.
   */
-  @JsonProperty(value = "W")
+  @Json.Property(value = "W")
  public double getW() {
    return m_w;
  }
@@ -301,7 +297,7 @@ public class Quaternion implements ProtobufSerializable, StructSerializable {
   *
   * @return X component of the quaternion.
   */
-  @JsonProperty(value = "X")
+  @Json.Property(value = "X")
  public double getX() {
    return m_x;
  }
@@ -311,7 +307,7 @@ public class Quaternion implements ProtobufSerializable, StructSerializable {
   *
   * @return Y component of the quaternion.
   */
-  @JsonProperty(value = "Y")
+  @Json.Property(value = "Y")
  public double getY() {
    return m_y;
  }
@@ -321,7 +317,7 @@ public class Quaternion implements ProtobufSerializable, StructSerializable {
   *
   * @return Z component of the quaternion.
   */
-  @JsonProperty(value = "Z")
+  @Json.Property(value = "Z")
  public double getZ() {
    return m_z;
  }
--- a/wpimath/src/main/java/org/wpilib/math/geometry/Rotation2d.java
+++ b/wpimath/src/main/java/org/wpilib/math/geometry/Rotation2d.java
@@ -6,10 +6,7 @@ package org.wpilib.math.geometry;

 import static org.wpilib.units.Units.Radians;

-import com.fasterxml.jackson.annotation.JsonAutoDetect;
-import com.fasterxml.jackson.annotation.JsonCreator;
-import com.fasterxml.jackson.annotation.JsonIgnoreProperties;
-import com.fasterxml.jackson.annotation.JsonProperty;
+import io.avaje.jsonb.Json;
 import java.util.Objects;
 import org.wpilib.math.geometry.proto.Rotation2dProto;
 import org.wpilib.math.geometry.struct.Rotation2dStruct;
@@ -27,8 +24,7 @@ import org.wpilib.util.struct.StructSerializable;
 /**
 * A rotation in a 2D coordinate frame represented by a point on the unit circle (cosine and sine).
 */
-@JsonIgnoreProperties(ignoreUnknown = true)
-@JsonAutoDetect(getterVisibility = JsonAutoDetect.Visibility.NONE)
+@Json
 public class Rotation2d
    implements Interpolatable<Rotation2d>, ProtobufSerializable, StructSerializable {
  /**
@@ -80,8 +76,8 @@ public class Rotation2d
   */
  public static final Rotation2d k180deg = kPi;

-  private final double m_cos;
-  private final double m_sin;
+  @Json.Ignore private final double m_cos;
+  @Json.Ignore private final double m_sin;

  /** Constructs a Rotation2d with a default angle of 0 degrees. */
  public Rotation2d() {
@@ -94,8 +90,8 @@ public class Rotation2d
   *
   * @param value The value of the angle in radians.
   */
-  @JsonCreator
-  public Rotation2d(@JsonProperty(required = true, value = "radians") double value) {
+  @Json.Creator
+  public Rotation2d(@Json.Alias(value = "radians") double value) {
    m_cos = Math.cos(value);
    m_sin = Math.sin(value);
  }
@@ -300,7 +296,7 @@ public class Rotation2d
   *
   * @return The radian value of the Rotation2d constrained within [-π, π].
   */
-  @JsonProperty
+  @Json.Property("radians")
  public double getRadians() {
    return Math.atan2(m_sin, m_cos);
  }
--- a/wpimath/src/main/java/org/wpilib/math/geometry/Rotation3d.java
+++ b/wpimath/src/main/java/org/wpilib/math/geometry/Rotation3d.java
@@ -6,10 +6,7 @@ package org.wpilib.math.geometry;

 import static org.wpilib.units.Units.Radians;

-import com.fasterxml.jackson.annotation.JsonAutoDetect;
-import com.fasterxml.jackson.annotation.JsonCreator;
-import com.fasterxml.jackson.annotation.JsonIgnoreProperties;
-import com.fasterxml.jackson.annotation.JsonProperty;
+import io.avaje.jsonb.Json;
 import java.util.Objects;
 import org.wpilib.math.geometry.proto.Rotation3dProto;
 import org.wpilib.math.geometry.struct.Rotation3dStruct;
@@ -68,8 +65,7 @@ import org.wpilib.util.struct.StructSerializable;
 * rotation. A neat property is that applying a series of rotations extrinsically is the same as
 * applying the same series in the opposite order intrinsically.
 */
-@JsonIgnoreProperties(ignoreUnknown = true)
-@JsonAutoDetect(getterVisibility = JsonAutoDetect.Visibility.NONE)
+@Json
 public class Rotation3d
    implements Interpolatable<Rotation3d>, ProtobufSerializable, StructSerializable {
  /**
@@ -79,6 +75,7 @@ public class Rotation3d
   */
  public static final Rotation3d kZero = new Rotation3d();

+  @Json.Property("quaternion")
  private final Quaternion m_q;

  /** Constructs a Rotation3d representing no rotation. */
@@ -91,8 +88,8 @@ public class Rotation3d
   *
   * @param q The quaternion.
   */
-  @JsonCreator
-  public Rotation3d(@JsonProperty(required = true, value = "quaternion") Quaternion q) {
+  @Json.Creator
+  public Rotation3d(@Json.Alias("quaternion") Quaternion q) {
    m_q = q.normalize();
  }

@@ -393,7 +390,6 @@ public class Rotation3d
   *
   * @return The quaternion representation of the Rotation3d.
   */
-  @JsonProperty(value = "quaternion")
  public Quaternion getQuaternion() {
    return m_q;
  }
--- a/wpimath/src/main/java/org/wpilib/math/geometry/Translation2d.java
+++ b/wpimath/src/main/java/org/wpilib/math/geometry/Translation2d.java
@@ -6,10 +6,7 @@ package org.wpilib.math.geometry;

 import static org.wpilib.units.Units.Meters;

-import com.fasterxml.jackson.annotation.JsonAutoDetect;
-import com.fasterxml.jackson.annotation.JsonCreator;
-import com.fasterxml.jackson.annotation.JsonIgnoreProperties;
-import com.fasterxml.jackson.annotation.JsonProperty;
+import io.avaje.jsonb.Json;
 import java.util.Collection;
 import java.util.Collections;
 import java.util.Comparator;
@@ -31,8 +28,7 @@ import org.wpilib.util.struct.StructSerializable;
 * <p>This assumes that you are using conventional mathematical axes. When the robot is at the
 * origin facing in the positive X direction, forward is positive X and left is positive Y.
 */
-@JsonIgnoreProperties(ignoreUnknown = true)
-@JsonAutoDetect(getterVisibility = JsonAutoDetect.Visibility.NONE)
+@Json
 public class Translation2d
    implements Interpolatable<Translation2d>, ProtobufSerializable, StructSerializable {
  /**
@@ -42,7 +38,10 @@ public class Translation2d
   */
  public static final Translation2d kZero = new Translation2d();

+  @Json.Property("x")
  private final double m_x;
+
+  @Json.Property("y")
  private final double m_y;

  /** Constructs a Translation2d with X and Y components equal to zero. */
@@ -56,10 +55,8 @@ public class Translation2d
   * @param x The x component of the translation.
   * @param y The y component of the translation.
   */
-  @JsonCreator
-  public Translation2d(
-      @JsonProperty(required = true, value = "x") double x,
-      @JsonProperty(required = true, value = "y") double y) {
+  @Json.Creator
+  public Translation2d(double x, double y) {
    m_x = x;
    m_y = y;
  }
@@ -130,7 +127,6 @@ public class Translation2d
   *
   * @return The X component of the translation.
   */
-  @JsonProperty
  public double getX() {
    return m_x;
  }
@@ -140,7 +136,6 @@ public class Translation2d
   *
   * @return The Y component of the translation.
   */
-  @JsonProperty
  public double getY() {
    return m_y;
  }
--- a/wpimath/src/main/java/org/wpilib/math/geometry/Translation3d.java
+++ b/wpimath/src/main/java/org/wpilib/math/geometry/Translation3d.java
@@ -6,10 +6,7 @@ package org.wpilib.math.geometry;

 import static org.wpilib.units.Units.Meters;

-import com.fasterxml.jackson.annotation.JsonAutoDetect;
-import com.fasterxml.jackson.annotation.JsonCreator;
-import com.fasterxml.jackson.annotation.JsonIgnoreProperties;
-import com.fasterxml.jackson.annotation.JsonProperty;
+import io.avaje.jsonb.Json;
 import java.util.Collection;
 import java.util.Collections;
 import java.util.Comparator;
@@ -32,8 +29,7 @@ import org.wpilib.util.struct.StructSerializable;
 * origin facing in the positive X direction, forward is positive X, left is positive Y, and up is
 * positive Z.
 */
-@JsonIgnoreProperties(ignoreUnknown = true)
-@JsonAutoDetect(getterVisibility = JsonAutoDetect.Visibility.NONE)
+@Json
 public class Translation3d
    implements Interpolatable<Translation3d>, ProtobufSerializable, StructSerializable {
  /**
@@ -43,8 +39,13 @@ public class Translation3d
   */
  public static final Translation3d kZero = new Translation3d();

+  @Json.Property("x")
  private final double m_x;
+
+  @Json.Property("y")
  private final double m_y;
+
+  @Json.Property("z")
  private final double m_z;

  /** Constructs a Translation3d with X, Y, and Z components equal to zero. */
@@ -59,11 +60,8 @@ public class Translation3d
   * @param y The y component of the translation.
   * @param z The z component of the translation.
   */
-  @JsonCreator
-  public Translation3d(
-      @JsonProperty(required = true, value = "x") double x,
-      @JsonProperty(required = true, value = "y") double y,
-      @JsonProperty(required = true, value = "z") double z) {
+  @Json.Creator
+  public Translation3d(double x, double y, double z) {
    m_x = x;
    m_y = y;
    m_z = z;
@@ -152,7 +150,6 @@ public class Translation3d
   *
   * @return The X component of the translation.
   */
-  @JsonProperty
  public double getX() {
    return m_x;
  }
@@ -162,7 +159,6 @@ public class Translation3d
   *
   * @return The Y component of the translation.
   */
-  @JsonProperty
  public double getY() {
    return m_y;
  }
@@ -172,7 +168,6 @@ public class Translation3d
   *
   * @return The Z component of the translation.
   */
-  @JsonProperty
  public double getZ() {
    return m_z;
  }
--- a/wpimath/src/main/java/org/wpilib/math/trajectory/Trajectory.java
+++ b/wpimath/src/main/java/org/wpilib/math/trajectory/Trajectory.java
@@ -4,7 +4,7 @@

 package org.wpilib.math.trajectory;

-import com.fasterxml.jackson.annotation.JsonProperty;
+import io.avaje.jsonb.Json;
 import java.util.ArrayList;
 import java.util.List;
 import java.util.Objects;
@@ -256,23 +256,23 @@ public class Trajectory implements ProtobufSerializable {
    public static final TrajectoryStateProto proto = new TrajectoryStateProto();

    /** The time elapsed since the beginning of the trajectory in seconds. */
-    @JsonProperty("time")
+    @Json.Property("time")
    public double time;

    /** The velocity at that point of the trajectory in meters per second. */
-    @JsonProperty("velocity")
+    @Json.Property("velocity")
    public double velocity;

    /** The acceleration at that point of the trajectory in m/s². */
-    @JsonProperty("acceleration")
+    @Json.Property("acceleration")
    public double acceleration;

    /** The pose at that point of the trajectory. */
-    @JsonProperty("pose")
+    @Json.Property("pose")
    public Pose2d pose;

    /** The curvature at that point of the trajectory in rad/m. */
-    @JsonProperty("curvature")
+    @Json.Property("curvature")
    public double curvature;

    /** Default constructor. */
--- a/wpiutil/BUILD.bazel
+++ b/wpiutil/BUILD.bazel
@@ -279,9 +279,6 @@ wpilib_jni_java_library(
    native_libs = [":wpiutiljni"],
    visibility = ["//visibility:public"],
    deps = [
-        "@maven//:com_fasterxml_jackson_core_jackson_annotations",
-        "@maven//:com_fasterxml_jackson_core_jackson_core",
-        "@maven//:com_fasterxml_jackson_core_jackson_databind",
        "@maven//:us_hebi_quickbuf_quickbuf_runtime",
    ],
 )
--- a/wpiutil/CMakeLists.txt
+++ b/wpiutil/CMakeLists.txt
@@ -12,29 +12,41 @@ file(GLOB wpiutil_jni_src src/main/native/cpp/jni/WPIUtilJNI.cpp)
 if(WITH_JAVA)
    include(UseJava)

-    if(NOT EXISTS "${WPILIB_BINARY_DIR}/wpiutil/thirdparty/jackson/jackson-core-2.19.2.jar")
+    if(NOT EXISTS "${WPILIB_BINARY_DIR}/wpiutil/thirdparty/avaje/avaje-jsonb-3.11.jar")
        set(BASE_URL "https://search.maven.org/remotecontent?filepath=")
-        set(JAR_ROOT "${WPILIB_BINARY_DIR}/wpiutil/thirdparty/jackson")
+        set(JAR_ROOT "${WPILIB_BINARY_DIR}/wpiutil/thirdparty/avaje")

-        message(STATUS "Downloading Jackson jarfiles...")
+        message(STATUS "Downloading Avaje jarfiles...")

        download_and_check(
-            "${BASE_URL}com/fasterxml/jackson/core/jackson-core/2.19.2/jackson-core-2.19.2.jar"
-            "${JAR_ROOT}/jackson-core-2.19.2.jar"
+            "${BASE_URL}io/avaje/avaje-jsonb/3.11/avaje-jsonb-3.11.jar"
+            "${JAR_ROOT}/avaje-jsonb-3.11.jar"
        )
        download_and_check(
-            "${BASE_URL}com/fasterxml/jackson/core/jackson-databind/2.19.2/jackson-databind-2.19.2.jar"
-            "${JAR_ROOT}/jackson-databind-2.19.2.jar"
+            "${BASE_URL}io/avaje/avaje-json-core/3.11/avaje-json-core-3.11.jar"
+            "${JAR_ROOT}/avaje-json-core-3.11.jar"
        )
        download_and_check(
-            "${BASE_URL}com/fasterxml/jackson/core/jackson-annotations/2.19.2/jackson-annotations-2.19.2.jar"
-            "${JAR_ROOT}/jackson-annotations-2.19.2.jar"
+            "${BASE_URL}io/avaje/avaje-jsonb-inject-plugin/3.11/avaje-jsonb-inject-plugin-3.11.jar"
+            "${JAR_ROOT}/avaje-jsonb-inject-plugin-3.11.jar"
+        )
+        download_and_check(
+            "${BASE_URL}io/avaje/avaje-jsonb-generator/3.11/avaje-jsonb-generator-3.11.jar"
+            "${JAR_ROOT}/avaje-jsonb-generator-3.11.jar"
+        )
+        download_and_check(
+            "${BASE_URL}io/avaje/avaje-spi-service/2.16/avaje-spi-service-2.16.jar"
+            "${JAR_ROOT}/avaje-spi-service-2.16.jar"
+        )
+        download_and_check(
+            "${BASE_URL}io/avaje/avaje-spi-core/2.16/avaje-spi-core-2.16.jar"
+            "${JAR_ROOT}/avaje-spi-core-2.16.jar"
        )

        message(STATUS "All files downloaded.")
    endif()

-    file(GLOB JACKSON_JARS ${WPILIB_BINARY_DIR}/wpiutil/thirdparty/jackson/*.jar)
+    file(GLOB AVAJE_JARS ${WPILIB_BINARY_DIR}/wpiutil/thirdparty/avaje/*.jar)

    if(NOT EXISTS "${WPILIB_BINARY_DIR}/wpiutil/thirdparty/quickbuf/quickbuf-runtime-1.4.jar")
        set(BASE_URL "https://search.maven.org/remotecontent?filepath=")
@@ -58,7 +70,7 @@ if(WITH_JAVA)
    add_jar(
        wpiutil_jar
        ${JAVA_SOURCES}
-        INCLUDE_JARS ${JACKSON_JARS} ${QUICKBUF_JAR}
+        INCLUDE_JARS ${AVAJE_JARS} ${QUICKBUF_JAR}
        OUTPUT_NAME wpiutil
        OUTPUT_DIR ${WPILIB_BINARY_DIR}/${java_lib_dest}
        GENERATE_NATIVE_HEADERS wpiutil_jni_headers
--- a/wpiutil/build.gradle
+++ b/wpiutil/build.gradle
@@ -285,6 +285,7 @@ model {
 }

 dependencies {
-    api libs.bundles.jackson
+    annotationProcessor libs.avaje.jsonb.generator
+    api libs.avaje.jsonb
    api libs.quickbuf.runtime
 }