diff --git a/CMakeLists.txt b/CMakeLists.txt
index 4bcc181ea8..6c4b56fd2e 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -81,6 +81,7 @@ option(WITH_EXAMPLES "Build examples" OFF)
 option(WITH_TESTS "Build unit tests (requires internet connection)" ON)
 option(WITH_GUI "Build GUI items" ON)
 option(WITH_SIMULATION_MODULES "Build simulation modules" ON)
+option(WITH_PROTOBUF "Build protobuf support" ON)
 
 # Options for using a package manager (e.g., vcpkg) for certain dependencies.
 option(USE_SYSTEM_FMTLIB "Use system fmtlib" OFF)
@@ -131,9 +132,11 @@ endif()
 find_package(LIBSSH 0.7.1)
 
 set(CMAKE_FIND_PACKAGE_PREFER_CONFIG ON)
-set(protobuf_MODULE_COMPATIBLE ON CACHE BOOL "" FORCE)
-find_package(Protobuf REQUIRED)
-find_program(PROTOC_COMPILER protoc REQUIRED)
+if(WITH_PROTOBUF)
+    set(protobuf_MODULE_COMPATIBLE ON CACHE BOOL "" FORCE)
+    find_package(Protobuf REQUIRED)
+    find_program(PROTOC_COMPILER protoc REQUIRED)
+endif()
 set(CMAKE_FIND_PACKAGE_PREFER_CONFIG OFF)
 
 get_property(isMultiConfig GLOBAL PROPERTY GENERATOR_IS_MULTI_CONFIG)
diff --git a/cmake/modules/AddTest.cmake b/cmake/modules/AddTest.cmake
index 224cffa3b2..b916f6f2cc 100644
--- a/cmake/modules/AddTest.cmake
+++ b/cmake/modules/AddTest.cmake
@@ -2,6 +2,9 @@ include(CompileWarnings)
 
 macro(wpilib_add_test name srcdir)
     file(GLOB_RECURSE test_src ${srcdir}/*.cpp)
+    if(NOT WITH_PROTOBUF)
+        list(FILTER test_src EXCLUDE REGEX "/proto/")
+    endif()
     add_executable(${name}_test ${test_src})
     set_property(TARGET ${name}_test PROPERTY FOLDER "tests")
     wpilib_target_warnings(${name}_test)
diff --git a/glass/src/lib/native/cpp/support/DataLogReaderThread.cpp b/glass/src/lib/native/cpp/support/DataLogReaderThread.cpp
index b9fdb44563..bdbfec77ab 100644
--- a/glass/src/lib/native/cpp/support/DataLogReaderThread.cpp
+++ b/glass/src/lib/native/cpp/support/DataLogReaderThread.cpp
@@ -109,11 +109,13 @@ void DataLogReaderThread::ReadMain() {
                    schema, err);
       }
     } else if (auto filename = wpi::remove_prefix(name, "/.schema/proto:")) {
+#ifndef NO_PROTOBUF
       // protobuf descriptor handling
       if (!m_protoDb.Add(*filename, data)) {
         wpi::print("could not decode protobuf '{}' filename '{}'\n", name,
                    *filename);
       }
+#endif
     }
   }
 
diff --git a/glass/src/lib/native/include/glass/support/DataLogReaderThread.h b/glass/src/lib/native/include/glass/support/DataLogReaderThread.h
index bcbc9623ef..2cfb89e39b 100644
--- a/glass/src/lib/native/include/glass/support/DataLogReaderThread.h
+++ b/glass/src/lib/native/include/glass/support/DataLogReaderThread.h
@@ -17,9 +17,12 @@
 #include <wpi/DenseMap.h>
 #include <wpi/Signal.h>
 #include <wpi/mutex.h>
-#include <wpi/protobuf/ProtobufMessageDatabase.h>
 #include <wpi/struct/DynamicStruct.h>
 
+#ifndef NO_PROTOBUF
+#include <wpi/protobuf/ProtobufMessageDatabase.h>
+#endif
+
 namespace glass {
 
 class DataLogReaderRange {
@@ -75,7 +78,9 @@ class DataLogReaderThread {
   }
 
   wpi::StructDescriptorDatabase& GetStructDatabase() { return m_structDb; }
+#ifndef NO_PROTOBUF
   wpi::ProtobufMessageDatabase& GetProtobufDatabase() { return m_protoDb; }
+#endif
 
   const wpi::log::DataLogReader& GetReader() const { return m_reader; }
 
@@ -94,7 +99,9 @@ class DataLogReaderThread {
   std::map<std::string, DataLogReaderEntry, std::less<>> m_entriesByName;
   wpi::DenseMap<int, DataLogReaderEntry*> m_entriesById;
   wpi::StructDescriptorDatabase m_structDb;
+#ifndef NO_PROTOBUF
   wpi::ProtobufMessageDatabase m_protoDb;
+#endif
   std::thread m_thread;
 };
 
diff --git a/glass/src/libnt/native/cpp/NetworkTables.cpp b/glass/src/libnt/native/cpp/NetworkTables.cpp
index 0f249ca340..5430a50d58 100644
--- a/glass/src/libnt/native/cpp/NetworkTables.cpp
+++ b/glass/src/libnt/native/cpp/NetworkTables.cpp
@@ -14,8 +14,6 @@
 #include <vector>
 
 #include <fmt/format.h>
-#include <google/protobuf/descriptor.h>
-#include <google/protobuf/message.h>
 #include <imgui.h>
 #include <imgui_stdlib.h>
 #include <networktables/NetworkTableInstance.h>
@@ -31,6 +29,11 @@
 #include <wpi/print.h>
 #include <wpi/raw_ostream.h>
 
+#ifndef NO_PROTOBUF
+#include <google/protobuf/descriptor.h>
+#include <google/protobuf/message.h>
+#endif
+
 #include "glass/Context.h"
 #include "glass/DataSource.h"
 #include "glass/Storage.h"
@@ -346,6 +349,7 @@ static void UpdateStructValueSource(NetworkTablesModel& model,
   }
 }
 
+#ifndef NO_PROTOBUF
 static void UpdateProtobufValueSource(NetworkTablesModel& model,
                                       NetworkTablesModel::ValueSource* out,
                                       const google::protobuf::Message& msg,
@@ -534,6 +538,7 @@ static void UpdateProtobufValueSource(NetworkTablesModel& model,
     }
   }
 }
+#endif
 
 static void UpdateJsonValueSource(NetworkTablesModel& model,
                                   NetworkTablesModel::ValueSource* out,
@@ -764,6 +769,7 @@ void NetworkTablesModel::ValueSource::UpdateFromValue(
           valueChildren.clear();
         }
       } else if (auto filename = wpi::remove_prefix(typeStr, "proto:")) {
+#ifndef NO_PROTOBUF
         auto msg = model.m_protoDb.Find(*filename);
         if (msg) {
           msg->Clear();
@@ -777,6 +783,9 @@ void NetworkTablesModel::ValueSource::UpdateFromValue(
         } else {
           valueChildren.clear();
         }
+#else
+        valueChildren.clear();
+#endif
       } else {
         valueChildren.clear();
       }
@@ -902,6 +911,7 @@ void NetworkTablesModel::Update() {
                        wpi::remove_prefix(entry->info.name, "/.schema/proto:");
                    entry->value.IsRaw() && filename &&
                    entry->info.type_str == "proto:FileDescriptorProto") {
+#ifndef NO_PROTOBUF
           // protobuf descriptor handling
           if (!m_protoDb.Add(*filename, entry->value.GetRaw())) {
             wpi::print("could not decode protobuf '{}' filename '{}'\n",
@@ -918,6 +928,7 @@ void NetworkTablesModel::Update() {
               }
             }
           }
+#endif
         }
       }
     }
diff --git a/glass/src/libnt/native/include/glass/networktables/NetworkTables.h b/glass/src/libnt/native/include/glass/networktables/NetworkTables.h
index 8416cf9dfd..bca5a41192 100644
--- a/glass/src/libnt/native/include/glass/networktables/NetworkTables.h
+++ b/glass/src/libnt/native/include/glass/networktables/NetworkTables.h
@@ -18,9 +18,12 @@
 #include <ntcore_cpp.h>
 #include <wpi/DenseMap.h>
 #include <wpi/json.h>
-#include <wpi/protobuf/ProtobufMessageDatabase.h>
 #include <wpi/struct/DynamicStruct.h>
 
+#ifndef NO_PROTOBUF
+#include <wpi/protobuf/ProtobufMessageDatabase.h>
+#endif
+
 #include "glass/Model.h"
 #include "glass/View.h"
 
@@ -168,7 +171,9 @@ class NetworkTablesModel : public Model {
   Entry* AddEntry(NT_Topic topic);
 
   wpi::StructDescriptorDatabase& GetStructDatabase() { return m_structDb; }
+#ifndef NO_PROTOBUF
   wpi::ProtobufMessageDatabase& GetProtobufDatabase() { return m_protoDb; }
+#endif
 
  private:
   void RebuildTree();
@@ -191,7 +196,9 @@ class NetworkTablesModel : public Model {
   Client m_server;
 
   wpi::StructDescriptorDatabase m_structDb;
+#ifndef NO_PROTOBUF
   wpi::ProtobufMessageDatabase m_protoDb;
+#endif
 };
 
 using NetworkTablesFlags = int;
diff --git a/wpimath/.styleguide b/wpimath/.styleguide
index 00437ce869..3e67f48eec 100644
--- a/wpimath/.styleguide
+++ b/wpimath/.styleguide
@@ -38,6 +38,7 @@ includeOtherLibs {
   ^Eigen/
   ^fmt/
   ^gcem/
+  ^google/
   ^gtest/
   ^unsupported/
   ^wpi/
diff --git a/wpimath/CMakeLists.txt b/wpimath/CMakeLists.txt
index 52624ed9d5..2b75f8d14b 100644
--- a/wpimath/CMakeLists.txt
+++ b/wpimath/CMakeLists.txt
@@ -6,9 +6,11 @@ include(AddTest)
 include(DownloadAndCheck)
 include(WpiProtobuf)
 
-# workaround for makefiles - for some reason parent directories aren't created.
-file(MAKE_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}/protobuf")
-file(GLOB wpimath_proto_src src/main/proto/*.proto)
+if(WITH_PROTOBUF)
+    # workaround for makefiles - for some reason parent directories aren't created.
+    file(MAKE_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}/protobuf")
+    file(GLOB wpimath_proto_src src/main/proto/*.proto)
+endif()
 
 file(
     GLOB wpimath_jni_src
@@ -120,21 +122,28 @@ file(
     src/main/native/thirdparty/sleipnir/src/*.cpp
 )
 list(REMOVE_ITEM wpimath_native_src ${wpimath_jni_src})
+if(NOT WITH_PROTOBUF)
+    list(FILTER wpimath_native_src EXCLUDE REGEX "/proto/")
+endif()
 
 set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS FALSE)
 
-add_library(protobuf OBJECT)
-target_link_libraries(protobuf wpiutil)
+if(WITH_PROTOBUF)
+    add_library(protobuf OBJECT)
+    target_link_libraries(protobuf wpiutil)
 
-add_library(wpimath ${wpimath_native_src} $<TARGET_OBJECTS:protobuf>)
+    add_library(wpimath ${wpimath_native_src} $<TARGET_OBJECTS:protobuf>)
 
-wpi_protobuf_generate(
-    TARGET
-    protobuf
-    PROTOS ${wpimath_proto_src}
-    PLUGIN ${PROTOC_WPILIB_PLUGIN}
-    PROTOC_OUT_DIR "${CMAKE_CURRENT_BINARY_DIR}/protobuf"
-)
+    wpi_protobuf_generate(
+        TARGET
+        protobuf
+        PROTOS ${wpimath_proto_src}
+        PLUGIN ${PROTOC_WPILIB_PLUGIN}
+        PROTOC_OUT_DIR "${CMAKE_CURRENT_BINARY_DIR}/protobuf"
+    )
+else()
+    add_library(wpimath ${wpimath_native_src})
+endif()
 
 if(MSVC)
     get_property(IS_MULTI_CONFIG GLOBAL PROPERTY GENERATOR_IS_MULTI_CONFIG)
@@ -164,12 +173,18 @@ set_target_properties(wpimath PROPERTIES DEBUG_POSTFIX "d")
 set_property(TARGET wpimath PROPERTY FOLDER "libraries")
 target_compile_definitions(wpimath PRIVATE WPILIB_EXPORTS SLEIPNIR_EXPORTS)
 
-target_compile_features(protobuf PUBLIC cxx_std_20)
 target_compile_features(wpimath PUBLIC cxx_std_20)
 if(MSVC)
     target_compile_options(wpimath PUBLIC /utf-8 /bigobj)
-    target_compile_options(protobuf PUBLIC /utf-8 /bigobj)
 endif()
+
+if(WITH_PROTOBUF)
+    target_compile_features(protobuf PUBLIC cxx_std_20)
+    if(MSVC)
+        target_compile_options(protobuf PUBLIC /utf-8 /bigobj)
+    endif()
+endif()
+
 wpilib_target_warnings(wpimath)
 target_link_libraries(wpimath wpiutil)
 
diff --git a/wpimath/src/main/native/cpp/geometry/Ellipse2d.cpp b/wpimath/src/main/native/cpp/geometry/Ellipse2d.cpp
index 4288b8b44b..6f8afa636a 100644
--- a/wpimath/src/main/native/cpp/geometry/Ellipse2d.cpp
+++ b/wpimath/src/main/native/cpp/geometry/Ellipse2d.cpp
@@ -6,8 +6,6 @@
 
 #include <sleipnir/optimization/OptimizationProblem.hpp>
 
-#include "geometry2d.pb.h"
-
 using namespace frc;
 
 units::meter_t Ellipse2d::Distance(const Translation2d& point) const {
diff --git a/wpimath/src/main/native/cpp/geometry/Pose3d.cpp b/wpimath/src/main/native/cpp/geometry/Pose3d.cpp
index bd7ab8681e..be29062596 100644
--- a/wpimath/src/main/native/cpp/geometry/Pose3d.cpp
+++ b/wpimath/src/main/native/cpp/geometry/Pose3d.cpp
@@ -9,8 +9,6 @@
 #include <Eigen/Core>
 #include <wpi/json.h>
 
-#include "geometry3d.pb.h"
-
 using namespace frc;
 
 namespace {
diff --git a/wpimath/src/main/native/cpp/geometry/Rectangle2d.cpp b/wpimath/src/main/native/cpp/geometry/Rectangle2d.cpp
deleted file mode 100644
index 0d1f77bc64..0000000000
--- a/wpimath/src/main/native/cpp/geometry/Rectangle2d.cpp
+++ /dev/null
@@ -1,7 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-#include "frc/geometry/Rectangle2d.h"
-
-#include "geometry2d.pb.h"
diff --git a/wpimath/src/main/native/cpp/geometry/Rotation2d.cpp b/wpimath/src/main/native/cpp/geometry/Rotation2d.cpp
index 69193028f7..921e1f81a0 100644
--- a/wpimath/src/main/native/cpp/geometry/Rotation2d.cpp
+++ b/wpimath/src/main/native/cpp/geometry/Rotation2d.cpp
@@ -8,7 +8,6 @@
 
 #include <wpi/json.h>
 
-#include "geometry2d.pb.h"
 #include "units/math.h"
 
 using namespace frc;
diff --git a/wpimath/src/main/native/cpp/geometry/Rotation3d.cpp b/wpimath/src/main/native/cpp/geometry/Rotation3d.cpp
index 072d023cb2..b4dce35a5d 100644
--- a/wpimath/src/main/native/cpp/geometry/Rotation3d.cpp
+++ b/wpimath/src/main/native/cpp/geometry/Rotation3d.cpp
@@ -13,7 +13,6 @@
 #include <wpi/json.h>
 
 #include "frc/fmt/Eigen.h"
-#include "geometry3d.pb.h"
 #include "units/math.h"
 #include "wpimath/MathShared.h"
 
diff --git a/wpimath/src/main/native/cpp/geometry/Transform2d.cpp b/wpimath/src/main/native/cpp/geometry/Transform2d.cpp
index 157359bfbc..25b05907ed 100644
--- a/wpimath/src/main/native/cpp/geometry/Transform2d.cpp
+++ b/wpimath/src/main/native/cpp/geometry/Transform2d.cpp
@@ -5,7 +5,6 @@
 #include "frc/geometry/Transform2d.h"
 
 #include "frc/geometry/Pose2d.h"
-#include "geometry2d.pb.h"
 
 using namespace frc;
 
diff --git a/wpimath/src/main/native/cpp/geometry/Translation2d.cpp b/wpimath/src/main/native/cpp/geometry/Translation2d.cpp
index c0a349e7aa..72365a100b 100644
--- a/wpimath/src/main/native/cpp/geometry/Translation2d.cpp
+++ b/wpimath/src/main/native/cpp/geometry/Translation2d.cpp
@@ -6,7 +6,6 @@
 
 #include <wpi/json.h>
 
-#include "geometry2d.pb.h"
 #include "units/math.h"
 
 using namespace frc;
diff --git a/wpimath/src/main/native/cpp/geometry/Translation3d.cpp b/wpimath/src/main/native/cpp/geometry/Translation3d.cpp
index c3b8cb4b77..69757f3080 100644
--- a/wpimath/src/main/native/cpp/geometry/Translation3d.cpp
+++ b/wpimath/src/main/native/cpp/geometry/Translation3d.cpp
@@ -6,7 +6,6 @@
 
 #include <wpi/json.h>
 
-#include "geometry3d.pb.h"
 #include "units/length.h"
 #include "units/math.h"
 
diff --git a/wpimath/src/main/native/include/frc/controller/ArmFeedforward.h b/wpimath/src/main/native/include/frc/controller/ArmFeedforward.h
index ab5ba920fc..f5647324ac 100644
--- a/wpimath/src/main/native/include/frc/controller/ArmFeedforward.h
+++ b/wpimath/src/main/native/include/frc/controller/ArmFeedforward.h
@@ -235,5 +235,7 @@ class WPILIB_DLLEXPORT ArmFeedforward {
 };
 }  // namespace frc
 
+#ifndef NO_PROTOBUF
 #include "frc/controller/proto/ArmFeedforwardProto.h"
+#endif
 #include "frc/controller/struct/ArmFeedforwardStruct.h"
diff --git a/wpimath/src/main/native/include/frc/controller/DifferentialDriveFeedforward.h b/wpimath/src/main/native/include/frc/controller/DifferentialDriveFeedforward.h
index be7e5b4fac..ff4ed61015 100644
--- a/wpimath/src/main/native/include/frc/controller/DifferentialDriveFeedforward.h
+++ b/wpimath/src/main/native/include/frc/controller/DifferentialDriveFeedforward.h
@@ -87,5 +87,7 @@ class WPILIB_DLLEXPORT DifferentialDriveFeedforward {
 };
 }  // namespace frc
 
+#ifndef NO_PROTOBUF
 #include "frc/controller/proto/DifferentialDriveFeedforwardProto.h"
+#endif
 #include "frc/controller/struct/DifferentialDriveFeedforwardStruct.h"
diff --git a/wpimath/src/main/native/include/frc/controller/DifferentialDriveWheelVoltages.h b/wpimath/src/main/native/include/frc/controller/DifferentialDriveWheelVoltages.h
index 424cd2d1b3..6d9b6dd056 100644
--- a/wpimath/src/main/native/include/frc/controller/DifferentialDriveWheelVoltages.h
+++ b/wpimath/src/main/native/include/frc/controller/DifferentialDriveWheelVoltages.h
@@ -21,5 +21,7 @@ struct DifferentialDriveWheelVoltages {
 
 }  // namespace frc
 
+#ifndef NO_PROTOBUF
 #include "frc/controller/proto/DifferentialDriveWheelVoltagesProto.h"
+#endif
 #include "frc/controller/struct/DifferentialDriveWheelVoltagesStruct.h"
diff --git a/wpimath/src/main/native/include/frc/controller/ElevatorFeedforward.h b/wpimath/src/main/native/include/frc/controller/ElevatorFeedforward.h
index 2180ab0b7b..6c7f927979 100644
--- a/wpimath/src/main/native/include/frc/controller/ElevatorFeedforward.h
+++ b/wpimath/src/main/native/include/frc/controller/ElevatorFeedforward.h
@@ -225,5 +225,7 @@ class ElevatorFeedforward {
 };
 }  // namespace frc
 
+#ifndef NO_PROTOBUF
 #include "frc/controller/proto/ElevatorFeedforwardProto.h"
+#endif
 #include "frc/controller/struct/ElevatorFeedforwardStruct.h"
diff --git a/wpimath/src/main/native/include/frc/geometry/Ellipse2d.h b/wpimath/src/main/native/include/frc/geometry/Ellipse2d.h
index f57303d1e8..e1731105eb 100644
--- a/wpimath/src/main/native/include/frc/geometry/Ellipse2d.h
+++ b/wpimath/src/main/native/include/frc/geometry/Ellipse2d.h
@@ -208,5 +208,7 @@ class WPILIB_DLLEXPORT Ellipse2d {
 
 }  // namespace frc
 
+#ifndef NO_PROTOBUF
 #include "frc/geometry/proto/Ellipse2dProto.h"
+#endif
 #include "frc/geometry/struct/Ellipse2dStruct.h"
diff --git a/wpimath/src/main/native/include/frc/geometry/Pose2d.h b/wpimath/src/main/native/include/frc/geometry/Pose2d.h
index 65a146c3dd..7f8f47cafe 100644
--- a/wpimath/src/main/native/include/frc/geometry/Pose2d.h
+++ b/wpimath/src/main/native/include/frc/geometry/Pose2d.h
@@ -213,6 +213,8 @@ void from_json(const wpi::json& json, Pose2d& pose);
 
 }  // namespace frc
 
+#ifndef NO_PROTOBUF
 #include "frc/geometry/proto/Pose2dProto.h"
+#endif
 #include "frc/geometry/struct/Pose2dStruct.h"
 #include "frc/geometry/Pose2d.inc"
diff --git a/wpimath/src/main/native/include/frc/geometry/Pose3d.h b/wpimath/src/main/native/include/frc/geometry/Pose3d.h
index 526dced399..f077a61010 100644
--- a/wpimath/src/main/native/include/frc/geometry/Pose3d.h
+++ b/wpimath/src/main/native/include/frc/geometry/Pose3d.h
@@ -215,5 +215,7 @@ void from_json(const wpi::json& json, Pose3d& pose);
 
 }  // namespace frc
 
+#ifndef NO_PROTOBUF
 #include "frc/geometry/proto/Pose3dProto.h"
+#endif
 #include "frc/geometry/struct/Pose3dStruct.h"
diff --git a/wpimath/src/main/native/include/frc/geometry/Quaternion.h b/wpimath/src/main/native/include/frc/geometry/Quaternion.h
index 4fe694cf25..4a4927632b 100644
--- a/wpimath/src/main/native/include/frc/geometry/Quaternion.h
+++ b/wpimath/src/main/native/include/frc/geometry/Quaternion.h
@@ -191,5 +191,7 @@ void from_json(const wpi::json& json, Quaternion& quaternion);
 
 }  // namespace frc
 
+#ifndef NO_PROTOBUF
 #include "frc/geometry/proto/QuaternionProto.h"
+#endif
 #include "frc/geometry/struct/QuaternionStruct.h"
diff --git a/wpimath/src/main/native/include/frc/geometry/Rectangle2d.h b/wpimath/src/main/native/include/frc/geometry/Rectangle2d.h
index f03ca98c44..22ee80f22e 100644
--- a/wpimath/src/main/native/include/frc/geometry/Rectangle2d.h
+++ b/wpimath/src/main/native/include/frc/geometry/Rectangle2d.h
@@ -206,5 +206,7 @@ class WPILIB_DLLEXPORT Rectangle2d {
 
 }  // namespace frc
 
+#ifndef NO_PROTOBUF
 #include "frc/geometry/proto/Rectangle2dProto.h"
+#endif
 #include "frc/geometry/struct/Rectangle2dStruct.h"
diff --git a/wpimath/src/main/native/include/frc/geometry/Rotation2d.h b/wpimath/src/main/native/include/frc/geometry/Rotation2d.h
index 6e9cd8e2a8..4e5357e9bb 100644
--- a/wpimath/src/main/native/include/frc/geometry/Rotation2d.h
+++ b/wpimath/src/main/native/include/frc/geometry/Rotation2d.h
@@ -169,6 +169,8 @@ void from_json(const wpi::json& json, Rotation2d& rotation);
 
 }  // namespace frc
 
+#ifndef NO_PROTOBUF
 #include "frc/geometry/proto/Rotation2dProto.h"
+#endif
 #include "frc/geometry/struct/Rotation2dStruct.h"
 #include "frc/geometry/Rotation2d.inc"
diff --git a/wpimath/src/main/native/include/frc/geometry/Rotation3d.h b/wpimath/src/main/native/include/frc/geometry/Rotation3d.h
index bc01f2b8ee..632f2ba29f 100644
--- a/wpimath/src/main/native/include/frc/geometry/Rotation3d.h
+++ b/wpimath/src/main/native/include/frc/geometry/Rotation3d.h
@@ -195,5 +195,7 @@ void from_json(const wpi::json& json, Rotation3d& rotation);
 
 }  // namespace frc
 
+#ifndef NO_PROTOBUF
 #include "frc/geometry/proto/Rotation3dProto.h"
+#endif
 #include "frc/geometry/struct/Rotation3dStruct.h"
diff --git a/wpimath/src/main/native/include/frc/geometry/Transform2d.h b/wpimath/src/main/native/include/frc/geometry/Transform2d.h
index dccc0e1eee..af984eadb4 100644
--- a/wpimath/src/main/native/include/frc/geometry/Transform2d.h
+++ b/wpimath/src/main/native/include/frc/geometry/Transform2d.h
@@ -124,6 +124,8 @@ class WPILIB_DLLEXPORT Transform2d {
 };
 }  // namespace frc
 
+#ifndef NO_PROTOBUF
 #include "frc/geometry/proto/Transform2dProto.h"
+#endif
 #include "frc/geometry/struct/Transform2dStruct.h"
 #include "frc/geometry/Transform2d.inc"
diff --git a/wpimath/src/main/native/include/frc/geometry/Transform3d.h b/wpimath/src/main/native/include/frc/geometry/Transform3d.h
index 94ecfe37ed..9f42d18581 100644
--- a/wpimath/src/main/native/include/frc/geometry/Transform3d.h
+++ b/wpimath/src/main/native/include/frc/geometry/Transform3d.h
@@ -130,5 +130,7 @@ class WPILIB_DLLEXPORT Transform3d {
 };
 }  // namespace frc
 
+#ifndef NO_PROTOBUF
 #include "frc/geometry/proto/Transform3dProto.h"
+#endif
 #include "frc/geometry/struct/Transform3dStruct.h"
diff --git a/wpimath/src/main/native/include/frc/geometry/Translation2d.h b/wpimath/src/main/native/include/frc/geometry/Translation2d.h
index 674bd9efe1..5c91e9d8fd 100644
--- a/wpimath/src/main/native/include/frc/geometry/Translation2d.h
+++ b/wpimath/src/main/native/include/frc/geometry/Translation2d.h
@@ -232,6 +232,8 @@ void from_json(const wpi::json& json, Translation2d& state);
 
 }  // namespace frc
 
+#ifndef NO_PROTOBUF
 #include "frc/geometry/proto/Translation2dProto.h"
+#endif
 #include "frc/geometry/struct/Translation2dStruct.h"
 #include "frc/geometry/Translation2d.inc"
diff --git a/wpimath/src/main/native/include/frc/geometry/Translation3d.h b/wpimath/src/main/native/include/frc/geometry/Translation3d.h
index b83b661fd9..75e5bf3dcf 100644
--- a/wpimath/src/main/native/include/frc/geometry/Translation3d.h
+++ b/wpimath/src/main/native/include/frc/geometry/Translation3d.h
@@ -199,6 +199,8 @@ void from_json(const wpi::json& json, Translation3d& state);
 
 }  // namespace frc
 
+#ifndef NO_PROTOBUF
 #include "frc/geometry/proto/Translation3dProto.h"
+#endif
 #include "frc/geometry/struct/Translation3dStruct.h"
 #include "frc/geometry/Translation3d.inc"
diff --git a/wpimath/src/main/native/include/frc/geometry/Twist2d.h b/wpimath/src/main/native/include/frc/geometry/Twist2d.h
index d13cc4ec80..4d61501d99 100644
--- a/wpimath/src/main/native/include/frc/geometry/Twist2d.h
+++ b/wpimath/src/main/native/include/frc/geometry/Twist2d.h
@@ -58,5 +58,7 @@ struct WPILIB_DLLEXPORT Twist2d {
 };
 }  // namespace frc
 
+#ifndef NO_PROTOBUF
 #include "frc/geometry/proto/Twist2dProto.h"
+#endif
 #include "frc/geometry/struct/Twist2dStruct.h"
diff --git a/wpimath/src/main/native/include/frc/geometry/Twist3d.h b/wpimath/src/main/native/include/frc/geometry/Twist3d.h
index 3262367dc0..2ce4a964e3 100644
--- a/wpimath/src/main/native/include/frc/geometry/Twist3d.h
+++ b/wpimath/src/main/native/include/frc/geometry/Twist3d.h
@@ -78,5 +78,7 @@ struct WPILIB_DLLEXPORT Twist3d {
 };
 }  // namespace frc
 
+#ifndef NO_PROTOBUF
 #include "frc/geometry/proto/Twist3dProto.h"
+#endif
 #include "frc/geometry/struct/Twist3dStruct.h"
diff --git a/wpimath/src/main/native/include/frc/kinematics/ChassisSpeeds.h b/wpimath/src/main/native/include/frc/kinematics/ChassisSpeeds.h
index 299e18a28b..4e8302b154 100644
--- a/wpimath/src/main/native/include/frc/kinematics/ChassisSpeeds.h
+++ b/wpimath/src/main/native/include/frc/kinematics/ChassisSpeeds.h
@@ -279,5 +279,7 @@ struct WPILIB_DLLEXPORT ChassisSpeeds {
 };
 }  // namespace frc
 
+#ifndef NO_PROTOBUF
 #include "frc/kinematics/proto/ChassisSpeedsProto.h"
+#endif
 #include "frc/kinematics/struct/ChassisSpeedsStruct.h"
diff --git a/wpimath/src/main/native/include/frc/kinematics/DifferentialDriveKinematics.h b/wpimath/src/main/native/include/frc/kinematics/DifferentialDriveKinematics.h
index fbbb519182..11c04be7a4 100644
--- a/wpimath/src/main/native/include/frc/kinematics/DifferentialDriveKinematics.h
+++ b/wpimath/src/main/native/include/frc/kinematics/DifferentialDriveKinematics.h
@@ -99,5 +99,7 @@ class WPILIB_DLLEXPORT DifferentialDriveKinematics
 };
 }  // namespace frc
 
+#ifndef NO_PROTOBUF
 #include "frc/kinematics/proto/DifferentialDriveKinematicsProto.h"
+#endif
 #include "frc/kinematics/struct/DifferentialDriveKinematicsStruct.h"
diff --git a/wpimath/src/main/native/include/frc/kinematics/DifferentialDriveWheelPositions.h b/wpimath/src/main/native/include/frc/kinematics/DifferentialDriveWheelPositions.h
index f22d6874f6..60575cf8c7 100644
--- a/wpimath/src/main/native/include/frc/kinematics/DifferentialDriveWheelPositions.h
+++ b/wpimath/src/main/native/include/frc/kinematics/DifferentialDriveWheelPositions.h
@@ -50,5 +50,7 @@ struct WPILIB_DLLEXPORT DifferentialDriveWheelPositions {
 };
 }  // namespace frc
 
+#ifndef NO_PROTOBUF
 #include "frc/kinematics/proto/DifferentialDriveWheelPositionsProto.h"
+#endif
 #include "frc/kinematics/struct/DifferentialDriveWheelPositionsStruct.h"
diff --git a/wpimath/src/main/native/include/frc/kinematics/DifferentialDriveWheelSpeeds.h b/wpimath/src/main/native/include/frc/kinematics/DifferentialDriveWheelSpeeds.h
index 676b8ad59c..98db2b861a 100644
--- a/wpimath/src/main/native/include/frc/kinematics/DifferentialDriveWheelSpeeds.h
+++ b/wpimath/src/main/native/include/frc/kinematics/DifferentialDriveWheelSpeeds.h
@@ -113,5 +113,7 @@ struct WPILIB_DLLEXPORT DifferentialDriveWheelSpeeds {
 };
 }  // namespace frc
 
+#ifndef NO_PROTOBUF
 #include "frc/kinematics/proto/DifferentialDriveWheelSpeedsProto.h"
+#endif
 #include "frc/kinematics/struct/DifferentialDriveWheelSpeedsStruct.h"
diff --git a/wpimath/src/main/native/include/frc/kinematics/MecanumDriveKinematics.h b/wpimath/src/main/native/include/frc/kinematics/MecanumDriveKinematics.h
index 218908fd31..e23e7e3adb 100644
--- a/wpimath/src/main/native/include/frc/kinematics/MecanumDriveKinematics.h
+++ b/wpimath/src/main/native/include/frc/kinematics/MecanumDriveKinematics.h
@@ -200,5 +200,7 @@ class WPILIB_DLLEXPORT MecanumDriveKinematics
 
 }  // namespace frc
 
+#ifndef NO_PROTOBUF
 #include "frc/kinematics/proto/MecanumDriveKinematicsProto.h"
+#endif
 #include "frc/kinematics/struct/MecanumDriveKinematicsStruct.h"
diff --git a/wpimath/src/main/native/include/frc/kinematics/MecanumDriveWheelPositions.h b/wpimath/src/main/native/include/frc/kinematics/MecanumDriveWheelPositions.h
index 77d79192b9..8a9943bcc8 100644
--- a/wpimath/src/main/native/include/frc/kinematics/MecanumDriveWheelPositions.h
+++ b/wpimath/src/main/native/include/frc/kinematics/MecanumDriveWheelPositions.h
@@ -61,5 +61,7 @@ struct WPILIB_DLLEXPORT MecanumDriveWheelPositions {
 };
 }  // namespace frc
 
+#ifndef NO_PROTOBUF
 #include "frc/kinematics/proto/MecanumDriveWheelPositionsProto.h"
+#endif
 #include "frc/kinematics/struct/MecanumDriveWheelPositionsStruct.h"
diff --git a/wpimath/src/main/native/include/frc/kinematics/MecanumDriveWheelSpeeds.h b/wpimath/src/main/native/include/frc/kinematics/MecanumDriveWheelSpeeds.h
index 5df198c801..10f971e988 100644
--- a/wpimath/src/main/native/include/frc/kinematics/MecanumDriveWheelSpeeds.h
+++ b/wpimath/src/main/native/include/frc/kinematics/MecanumDriveWheelSpeeds.h
@@ -121,5 +121,7 @@ struct WPILIB_DLLEXPORT MecanumDriveWheelSpeeds {
 };
 }  // namespace frc
 
+#ifndef NO_PROTOBUF
 #include "frc/kinematics/proto/MecanumDriveWheelSpeedsProto.h"
+#endif
 #include "frc/kinematics/struct/MecanumDriveWheelSpeedsStruct.h"
diff --git a/wpimath/src/main/native/include/frc/kinematics/SwerveModulePosition.h b/wpimath/src/main/native/include/frc/kinematics/SwerveModulePosition.h
index 576bfcf00f..4cbe97fcb5 100644
--- a/wpimath/src/main/native/include/frc/kinematics/SwerveModulePosition.h
+++ b/wpimath/src/main/native/include/frc/kinematics/SwerveModulePosition.h
@@ -43,5 +43,7 @@ struct WPILIB_DLLEXPORT SwerveModulePosition {
 };
 }  // namespace frc
 
+#ifndef NO_PROTOBUF
 #include "frc/kinematics/proto/SwerveModulePositionProto.h"
+#endif
 #include "frc/kinematics/struct/SwerveModulePositionStruct.h"
diff --git a/wpimath/src/main/native/include/frc/kinematics/SwerveModuleState.h b/wpimath/src/main/native/include/frc/kinematics/SwerveModuleState.h
index 3060d35fc2..adfeebbbbf 100644
--- a/wpimath/src/main/native/include/frc/kinematics/SwerveModuleState.h
+++ b/wpimath/src/main/native/include/frc/kinematics/SwerveModuleState.h
@@ -48,5 +48,7 @@ struct WPILIB_DLLEXPORT SwerveModuleState {
 };
 }  // namespace frc
 
+#ifndef NO_PROTOBUF
 #include "frc/kinematics/proto/SwerveModuleStateProto.h"
+#endif
 #include "frc/kinematics/struct/SwerveModuleStateStruct.h"
diff --git a/wpimath/src/main/native/include/frc/spline/CubicHermiteSpline.h b/wpimath/src/main/native/include/frc/spline/CubicHermiteSpline.h
index 420566b3d5..2580b1be7e 100644
--- a/wpimath/src/main/native/include/frc/spline/CubicHermiteSpline.h
+++ b/wpimath/src/main/native/include/frc/spline/CubicHermiteSpline.h
@@ -115,5 +115,7 @@ class WPILIB_DLLEXPORT CubicHermiteSpline : public Spline<3> {
 };
 }  // namespace frc
 
+#ifndef NO_PROTOBUF
 #include "frc/spline/proto/CubicHermiteSplineProto.h"
+#endif
 #include "frc/spline/struct/CubicHermiteSplineStruct.h"
diff --git a/wpimath/src/main/native/include/frc/spline/QuinticHermiteSpline.h b/wpimath/src/main/native/include/frc/spline/QuinticHermiteSpline.h
index fb0d227e29..1c592eb2fa 100644
--- a/wpimath/src/main/native/include/frc/spline/QuinticHermiteSpline.h
+++ b/wpimath/src/main/native/include/frc/spline/QuinticHermiteSpline.h
@@ -125,5 +125,7 @@ class WPILIB_DLLEXPORT QuinticHermiteSpline : public Spline<5> {
 };
 }  // namespace frc
 
+#ifndef NO_PROTOBUF
 #include "frc/spline/proto/QuinticHermiteSplineProto.h"
+#endif
 #include "frc/spline/struct/QuinticHermiteSplineStruct.h"
diff --git a/wpimath/src/main/native/include/frc/system/proto/LinearSystemProto.h b/wpimath/src/main/native/include/frc/system/proto/LinearSystemProto.h
index 6d5452fc72..f47f63e67c 100644
--- a/wpimath/src/main/native/include/frc/system/proto/LinearSystemProto.h
+++ b/wpimath/src/main/native/include/frc/system/proto/LinearSystemProto.h
@@ -6,7 +6,6 @@
 
 #include <wpi/protobuf/Protobuf.h>
 
-#include "frc/proto/MatrixProto.h"
 #include "frc/system/LinearSystem.h"
 
 template <int States, int Inputs, int Outputs>
diff --git a/wpimath/src/main/native/include/frc/system/proto/LinearSystemProto.inc b/wpimath/src/main/native/include/frc/system/proto/LinearSystemProto.inc
index f41d8e91ec..5151f4e17b 100644
--- a/wpimath/src/main/native/include/frc/system/proto/LinearSystemProto.inc
+++ b/wpimath/src/main/native/include/frc/system/proto/LinearSystemProto.inc
@@ -9,6 +9,7 @@
 #include <fmt/format.h>
 #include <wpi/ProtoHelper.h>
 
+#include "frc/proto/MatrixProto.h"
 #include "frc/system/proto/LinearSystemProto.h"
 #include "system.pb.h"
 
diff --git a/wpimath/src/main/native/include/frc/trajectory/Trajectory.h b/wpimath/src/main/native/include/frc/trajectory/Trajectory.h
index 753bf9e2d1..ba29617ee1 100644
--- a/wpimath/src/main/native/include/frc/trajectory/Trajectory.h
+++ b/wpimath/src/main/native/include/frc/trajectory/Trajectory.h
@@ -146,5 +146,7 @@ void from_json(const wpi::json& json, Trajectory::State& state);
 
 }  // namespace frc
 
+#ifndef NO_PROTOBUF
 #include "frc/trajectory/proto/TrajectoryProto.h"
 #include "frc/trajectory/proto/TrajectoryStateProto.h"
+#endif
diff --git a/wpimath/src/test/native/cpp/ProtoTestBase.h b/wpimath/src/test/native/cpp/ProtoTestBase.h
index 88e149e3e0..5a5affd812 100644
--- a/wpimath/src/test/native/cpp/ProtoTestBase.h
+++ b/wpimath/src/test/native/cpp/ProtoTestBase.h
@@ -4,15 +4,10 @@
 
 #pragma once
 
+#include <google/protobuf/arena.h>
 #include <gtest/gtest.h>
 #include <wpi/protobuf/Protobuf.h>
 
-#include "controller.pb.h"
-#include "kinematics.pb.h"
-#include "spline.pb.h"
-#include "system.pb.h"
-#include "wpimath.pb.h"
-
 template <typename T>
 class ProtoTest : public testing::Test {};
 
diff --git a/wpimath/src/test/native/cpp/controller/proto/ArmFeedforwardProtoTest.cpp b/wpimath/src/test/native/cpp/controller/proto/ArmFeedforwardProtoTest.cpp
index 4df8566db2..6ad9579a74 100644
--- a/wpimath/src/test/native/cpp/controller/proto/ArmFeedforwardProtoTest.cpp
+++ b/wpimath/src/test/native/cpp/controller/proto/ArmFeedforwardProtoTest.cpp
@@ -2,9 +2,9 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
+#include <google/protobuf/arena.h>
 #include <gtest/gtest.h>
 
-#include "controller.pb.h"
 #include "frc/controller/ArmFeedforward.h"
 
 using namespace frc;
diff --git a/wpimath/src/test/native/cpp/controller/proto/DifferentialDriveWheelVoltagesProtoTest.cpp b/wpimath/src/test/native/cpp/controller/proto/DifferentialDriveWheelVoltagesProtoTest.cpp
index 1adad90fd7..466aa50f39 100644
--- a/wpimath/src/test/native/cpp/controller/proto/DifferentialDriveWheelVoltagesProtoTest.cpp
+++ b/wpimath/src/test/native/cpp/controller/proto/DifferentialDriveWheelVoltagesProtoTest.cpp
@@ -2,9 +2,9 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
+#include <google/protobuf/arena.h>
 #include <gtest/gtest.h>
 
-#include "controller.pb.h"
 #include "frc/controller/DifferentialDriveWheelVoltages.h"
 
 using namespace frc;
diff --git a/wpimath/src/test/native/cpp/controller/proto/ElevatorFeedforwardProtoTest.cpp b/wpimath/src/test/native/cpp/controller/proto/ElevatorFeedforwardProtoTest.cpp
index 5ec136f6aa..62d8bdb4c8 100644
--- a/wpimath/src/test/native/cpp/controller/proto/ElevatorFeedforwardProtoTest.cpp
+++ b/wpimath/src/test/native/cpp/controller/proto/ElevatorFeedforwardProtoTest.cpp
@@ -2,9 +2,9 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
+#include <google/protobuf/arena.h>
 #include <gtest/gtest.h>
 
-#include "controller.pb.h"
 #include "frc/controller/ElevatorFeedforward.h"
 
 using namespace frc;
diff --git a/wpimath/src/test/native/cpp/geometry/proto/Ellipse2dProtoTest.cpp b/wpimath/src/test/native/cpp/geometry/proto/Ellipse2dProtoTest.cpp
index 47819002b5..810d368e63 100644
--- a/wpimath/src/test/native/cpp/geometry/proto/Ellipse2dProtoTest.cpp
+++ b/wpimath/src/test/native/cpp/geometry/proto/Ellipse2dProtoTest.cpp
@@ -2,10 +2,10 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
+#include <google/protobuf/arena.h>
 #include <gtest/gtest.h>
 
 #include "frc/geometry/Ellipse2d.h"
-#include "geometry2d.pb.h"
 
 using namespace frc;
 
diff --git a/wpimath/src/test/native/cpp/geometry/proto/Pose2dProtoTest.cpp b/wpimath/src/test/native/cpp/geometry/proto/Pose2dProtoTest.cpp
index c6e9d49ec5..64067dde4b 100644
--- a/wpimath/src/test/native/cpp/geometry/proto/Pose2dProtoTest.cpp
+++ b/wpimath/src/test/native/cpp/geometry/proto/Pose2dProtoTest.cpp
@@ -2,10 +2,10 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
+#include <google/protobuf/arena.h>
 #include <gtest/gtest.h>
 
 #include "frc/geometry/Pose2d.h"
-#include "geometry2d.pb.h"
 
 using namespace frc;
 
diff --git a/wpimath/src/test/native/cpp/geometry/proto/Pose3dProtoTest.cpp b/wpimath/src/test/native/cpp/geometry/proto/Pose3dProtoTest.cpp
index d8847cab88..f685f9b8e1 100644
--- a/wpimath/src/test/native/cpp/geometry/proto/Pose3dProtoTest.cpp
+++ b/wpimath/src/test/native/cpp/geometry/proto/Pose3dProtoTest.cpp
@@ -2,10 +2,10 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
+#include <google/protobuf/arena.h>
 #include <gtest/gtest.h>
 
 #include "frc/geometry/Pose3d.h"
-#include "geometry3d.pb.h"
 
 using namespace frc;
 
diff --git a/wpimath/src/test/native/cpp/geometry/proto/QuaternionProtoTest.cpp b/wpimath/src/test/native/cpp/geometry/proto/QuaternionProtoTest.cpp
index 92338df832..13c206e6aa 100644
--- a/wpimath/src/test/native/cpp/geometry/proto/QuaternionProtoTest.cpp
+++ b/wpimath/src/test/native/cpp/geometry/proto/QuaternionProtoTest.cpp
@@ -2,10 +2,10 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
+#include <google/protobuf/arena.h>
 #include <gtest/gtest.h>
 
 #include "frc/geometry/Quaternion.h"
-#include "geometry3d.pb.h"
 
 using namespace frc;
 
diff --git a/wpimath/src/test/native/cpp/geometry/proto/Rectangle2dProtoTest.cpp b/wpimath/src/test/native/cpp/geometry/proto/Rectangle2dProtoTest.cpp
index 4949c0bb14..04f2d774f2 100644
--- a/wpimath/src/test/native/cpp/geometry/proto/Rectangle2dProtoTest.cpp
+++ b/wpimath/src/test/native/cpp/geometry/proto/Rectangle2dProtoTest.cpp
@@ -2,10 +2,10 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
+#include <google/protobuf/arena.h>
 #include <gtest/gtest.h>
 
 #include "frc/geometry/Rectangle2d.h"
-#include "geometry2d.pb.h"
 
 using namespace frc;
 
diff --git a/wpimath/src/test/native/cpp/geometry/proto/Rotation2dProtoTest.cpp b/wpimath/src/test/native/cpp/geometry/proto/Rotation2dProtoTest.cpp
index 3ab9e1bb26..4a10988ab7 100644
--- a/wpimath/src/test/native/cpp/geometry/proto/Rotation2dProtoTest.cpp
+++ b/wpimath/src/test/native/cpp/geometry/proto/Rotation2dProtoTest.cpp
@@ -2,10 +2,10 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
+#include <google/protobuf/arena.h>
 #include <gtest/gtest.h>
 
 #include "frc/geometry/Rotation2d.h"
-#include "geometry2d.pb.h"
 
 using namespace frc;
 
diff --git a/wpimath/src/test/native/cpp/geometry/proto/Rotation3dProtoTest.cpp b/wpimath/src/test/native/cpp/geometry/proto/Rotation3dProtoTest.cpp
index a83b78c2a0..7850894b0a 100644
--- a/wpimath/src/test/native/cpp/geometry/proto/Rotation3dProtoTest.cpp
+++ b/wpimath/src/test/native/cpp/geometry/proto/Rotation3dProtoTest.cpp
@@ -2,10 +2,10 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
+#include <google/protobuf/arena.h>
 #include <gtest/gtest.h>
 
 #include "frc/geometry/Rotation3d.h"
-#include "geometry3d.pb.h"
 
 using namespace frc;
 
diff --git a/wpimath/src/test/native/cpp/geometry/proto/Transform2dProtoTest.cpp b/wpimath/src/test/native/cpp/geometry/proto/Transform2dProtoTest.cpp
index 4b975f3e14..6225426f32 100644
--- a/wpimath/src/test/native/cpp/geometry/proto/Transform2dProtoTest.cpp
+++ b/wpimath/src/test/native/cpp/geometry/proto/Transform2dProtoTest.cpp
@@ -2,10 +2,10 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
+#include <google/protobuf/arena.h>
 #include <gtest/gtest.h>
 
 #include "frc/geometry/Transform2d.h"
-#include "geometry2d.pb.h"
 
 using namespace frc;
 
diff --git a/wpimath/src/test/native/cpp/geometry/proto/Transform3dProtoTest.cpp b/wpimath/src/test/native/cpp/geometry/proto/Transform3dProtoTest.cpp
index 3a86421cfa..c5731eea0d 100644
--- a/wpimath/src/test/native/cpp/geometry/proto/Transform3dProtoTest.cpp
+++ b/wpimath/src/test/native/cpp/geometry/proto/Transform3dProtoTest.cpp
@@ -2,10 +2,10 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
+#include <google/protobuf/arena.h>
 #include <gtest/gtest.h>
 
 #include "frc/geometry/Transform3d.h"
-#include "geometry3d.pb.h"
 
 using namespace frc;
 
diff --git a/wpimath/src/test/native/cpp/geometry/proto/Translation2dProtoTest.cpp b/wpimath/src/test/native/cpp/geometry/proto/Translation2dProtoTest.cpp
index e6a895969d..37ec61b3b1 100644
--- a/wpimath/src/test/native/cpp/geometry/proto/Translation2dProtoTest.cpp
+++ b/wpimath/src/test/native/cpp/geometry/proto/Translation2dProtoTest.cpp
@@ -2,10 +2,10 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
+#include <google/protobuf/arena.h>
 #include <gtest/gtest.h>
 
 #include "frc/geometry/Translation2d.h"
-#include "geometry2d.pb.h"
 
 using namespace frc;
 
diff --git a/wpimath/src/test/native/cpp/geometry/proto/Translation3dProtoTest.cpp b/wpimath/src/test/native/cpp/geometry/proto/Translation3dProtoTest.cpp
index 3f6d59f9cf..732b1a62af 100644
--- a/wpimath/src/test/native/cpp/geometry/proto/Translation3dProtoTest.cpp
+++ b/wpimath/src/test/native/cpp/geometry/proto/Translation3dProtoTest.cpp
@@ -2,10 +2,10 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
+#include <google/protobuf/arena.h>
 #include <gtest/gtest.h>
 
 #include "frc/geometry/Translation3d.h"
-#include "geometry3d.pb.h"
 
 using namespace frc;
 
diff --git a/wpimath/src/test/native/cpp/geometry/proto/Twist2dProtoTest.cpp b/wpimath/src/test/native/cpp/geometry/proto/Twist2dProtoTest.cpp
index d9f4faeb21..305d3297d8 100644
--- a/wpimath/src/test/native/cpp/geometry/proto/Twist2dProtoTest.cpp
+++ b/wpimath/src/test/native/cpp/geometry/proto/Twist2dProtoTest.cpp
@@ -2,10 +2,10 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
+#include <google/protobuf/arena.h>
 #include <gtest/gtest.h>
 
 #include "frc/geometry/Twist2d.h"
-#include "geometry2d.pb.h"
 
 using namespace frc;
 
diff --git a/wpimath/src/test/native/cpp/geometry/proto/Twist3dProtoTest.cpp b/wpimath/src/test/native/cpp/geometry/proto/Twist3dProtoTest.cpp
index b4e7bf0730..9c454840a0 100644
--- a/wpimath/src/test/native/cpp/geometry/proto/Twist3dProtoTest.cpp
+++ b/wpimath/src/test/native/cpp/geometry/proto/Twist3dProtoTest.cpp
@@ -2,10 +2,10 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
+#include <google/protobuf/arena.h>
 #include <gtest/gtest.h>
 
 #include "frc/geometry/Twist3d.h"
-#include "geometry3d.pb.h"
 
 using namespace frc;
 
diff --git a/wpimath/src/test/native/cpp/kinematics/proto/ChassisSpeedsProtoTest.cpp b/wpimath/src/test/native/cpp/kinematics/proto/ChassisSpeedsProtoTest.cpp
index 375909a330..9d91a5b2ff 100644
--- a/wpimath/src/test/native/cpp/kinematics/proto/ChassisSpeedsProtoTest.cpp
+++ b/wpimath/src/test/native/cpp/kinematics/proto/ChassisSpeedsProtoTest.cpp
@@ -2,10 +2,10 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
+#include <google/protobuf/arena.h>
 #include <gtest/gtest.h>
 
 #include "frc/kinematics/ChassisSpeeds.h"
-#include "kinematics.pb.h"
 
 using namespace frc;
 
diff --git a/wpimath/src/test/native/cpp/kinematics/proto/DifferentialDriveKinematicsProtoTest.cpp b/wpimath/src/test/native/cpp/kinematics/proto/DifferentialDriveKinematicsProtoTest.cpp
index 4d57108833..47ed61fea6 100644
--- a/wpimath/src/test/native/cpp/kinematics/proto/DifferentialDriveKinematicsProtoTest.cpp
+++ b/wpimath/src/test/native/cpp/kinematics/proto/DifferentialDriveKinematicsProtoTest.cpp
@@ -2,10 +2,10 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
+#include <google/protobuf/arena.h>
 #include <gtest/gtest.h>
 
 #include "frc/kinematics/DifferentialDriveKinematics.h"
-#include "kinematics.pb.h"
 
 using namespace frc;
 
diff --git a/wpimath/src/test/native/cpp/kinematics/proto/DifferentialDriveWheelSpeedsProtoTest.cpp b/wpimath/src/test/native/cpp/kinematics/proto/DifferentialDriveWheelSpeedsProtoTest.cpp
index 83e317f206..35ac5aebce 100644
--- a/wpimath/src/test/native/cpp/kinematics/proto/DifferentialDriveWheelSpeedsProtoTest.cpp
+++ b/wpimath/src/test/native/cpp/kinematics/proto/DifferentialDriveWheelSpeedsProtoTest.cpp
@@ -2,10 +2,10 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
+#include <google/protobuf/arena.h>
 #include <gtest/gtest.h>
 
 #include "frc/kinematics/DifferentialDriveWheelSpeeds.h"
-#include "kinematics.pb.h"
 
 using namespace frc;
 
diff --git a/wpimath/src/test/native/cpp/kinematics/proto/MecanumDriveKinematicsProtoTest.cpp b/wpimath/src/test/native/cpp/kinematics/proto/MecanumDriveKinematicsProtoTest.cpp
index c601fc3b4d..fd1b4d1526 100644
--- a/wpimath/src/test/native/cpp/kinematics/proto/MecanumDriveKinematicsProtoTest.cpp
+++ b/wpimath/src/test/native/cpp/kinematics/proto/MecanumDriveKinematicsProtoTest.cpp
@@ -2,10 +2,10 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
+#include <google/protobuf/arena.h>
 #include <gtest/gtest.h>
 
 #include "frc/kinematics/MecanumDriveKinematics.h"
-#include "kinematics.pb.h"
 
 using namespace frc;
 
diff --git a/wpimath/src/test/native/cpp/kinematics/proto/MecanumDriveWheelPositionsProtoTest.cpp b/wpimath/src/test/native/cpp/kinematics/proto/MecanumDriveWheelPositionsProtoTest.cpp
index e63ffbeadd..fae1f0b33e 100644
--- a/wpimath/src/test/native/cpp/kinematics/proto/MecanumDriveWheelPositionsProtoTest.cpp
+++ b/wpimath/src/test/native/cpp/kinematics/proto/MecanumDriveWheelPositionsProtoTest.cpp
@@ -2,10 +2,10 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
+#include <google/protobuf/arena.h>
 #include <gtest/gtest.h>
 
 #include "frc/kinematics/MecanumDriveWheelPositions.h"
-#include "kinematics.pb.h"
 
 using namespace frc;
 
diff --git a/wpimath/src/test/native/cpp/kinematics/proto/MecanumDriveWheelSpeedsProtoTest.cpp b/wpimath/src/test/native/cpp/kinematics/proto/MecanumDriveWheelSpeedsProtoTest.cpp
index ae91c3a1eb..26a98b4cb6 100644
--- a/wpimath/src/test/native/cpp/kinematics/proto/MecanumDriveWheelSpeedsProtoTest.cpp
+++ b/wpimath/src/test/native/cpp/kinematics/proto/MecanumDriveWheelSpeedsProtoTest.cpp
@@ -2,10 +2,10 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
+#include <google/protobuf/arena.h>
 #include <gtest/gtest.h>
 
 #include "frc/kinematics/MecanumDriveWheelSpeeds.h"
-#include "kinematics.pb.h"
 
 using namespace frc;
 
diff --git a/wpimath/src/test/native/cpp/kinematics/proto/SwerveDriveKinematicsProtoTest.cpp b/wpimath/src/test/native/cpp/kinematics/proto/SwerveDriveKinematicsProtoTest.cpp
index 80af48935f..776d2b4756 100644
--- a/wpimath/src/test/native/cpp/kinematics/proto/SwerveDriveKinematicsProtoTest.cpp
+++ b/wpimath/src/test/native/cpp/kinematics/proto/SwerveDriveKinematicsProtoTest.cpp
@@ -2,6 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
+#include <google/protobuf/arena.h>
 #include <gtest/gtest.h>
 
 #include "../../ProtoTestBase.h"
diff --git a/wpimath/src/test/native/cpp/kinematics/proto/SwerveModulePositionProtoTest.cpp b/wpimath/src/test/native/cpp/kinematics/proto/SwerveModulePositionProtoTest.cpp
index c511b9f840..4a3013e6f8 100644
--- a/wpimath/src/test/native/cpp/kinematics/proto/SwerveModulePositionProtoTest.cpp
+++ b/wpimath/src/test/native/cpp/kinematics/proto/SwerveModulePositionProtoTest.cpp
@@ -2,10 +2,10 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
+#include <google/protobuf/arena.h>
 #include <gtest/gtest.h>
 
 #include "frc/kinematics/SwerveModulePosition.h"
-#include "kinematics.pb.h"
 
 using namespace frc;
 
diff --git a/wpimath/src/test/native/cpp/kinematics/proto/SwerveModuleStateProtoTest.cpp b/wpimath/src/test/native/cpp/kinematics/proto/SwerveModuleStateProtoTest.cpp
index e210db9479..c86152d93a 100644
--- a/wpimath/src/test/native/cpp/kinematics/proto/SwerveModuleStateProtoTest.cpp
+++ b/wpimath/src/test/native/cpp/kinematics/proto/SwerveModuleStateProtoTest.cpp
@@ -2,10 +2,10 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
+#include <google/protobuf/arena.h>
 #include <gtest/gtest.h>
 
 #include "frc/kinematics/SwerveModuleState.h"
-#include "kinematics.pb.h"
 
 using namespace frc;
 
diff --git a/wpimath/src/test/native/cpp/system/plant/proto/DCMotorProtoTest.cpp b/wpimath/src/test/native/cpp/system/plant/proto/DCMotorProtoTest.cpp
index d977cf4e71..2c4a6747df 100644
--- a/wpimath/src/test/native/cpp/system/plant/proto/DCMotorProtoTest.cpp
+++ b/wpimath/src/test/native/cpp/system/plant/proto/DCMotorProtoTest.cpp
@@ -2,10 +2,10 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
+#include <google/protobuf/arena.h>
 #include <gtest/gtest.h>
 
 #include "frc/system/plant/DCMotor.h"
-#include "plant.pb.h"
 
 using namespace frc;
 
diff --git a/wpimath/src/test/native/cpp/trajectory/proto/TrajectoryProtoTest.cpp b/wpimath/src/test/native/cpp/trajectory/proto/TrajectoryProtoTest.cpp
index 400689bf84..eb60c9dd01 100644
--- a/wpimath/src/test/native/cpp/trajectory/proto/TrajectoryProtoTest.cpp
+++ b/wpimath/src/test/native/cpp/trajectory/proto/TrajectoryProtoTest.cpp
@@ -2,10 +2,10 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
+#include <google/protobuf/arena.h>
 #include <gtest/gtest.h>
 
 #include "frc/trajectory/Trajectory.h"
-#include "trajectory.pb.h"
 
 using namespace frc;
 
diff --git a/wpimath/src/test/native/cpp/trajectory/proto/TrajectoryStateProtoTest.cpp b/wpimath/src/test/native/cpp/trajectory/proto/TrajectoryStateProtoTest.cpp
index 1d0b0497de..4f3e42c097 100644
--- a/wpimath/src/test/native/cpp/trajectory/proto/TrajectoryStateProtoTest.cpp
+++ b/wpimath/src/test/native/cpp/trajectory/proto/TrajectoryStateProtoTest.cpp
@@ -2,10 +2,10 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
+#include <google/protobuf/arena.h>
 #include <gtest/gtest.h>
 
 #include "frc/trajectory/Trajectory.h"
-#include "trajectory.pb.h"
 
 using namespace frc;
 
diff --git a/wpiutil/CMakeLists.txt b/wpiutil/CMakeLists.txt
index 9793fef4aa..0362b7880c 100644
--- a/wpiutil/CMakeLists.txt
+++ b/wpiutil/CMakeLists.txt
@@ -121,6 +121,9 @@ file(
     src/main/native/thirdparty/mpack/src/*.cpp
 )
 list(REMOVE_ITEM wpiutil_native_src ${wpiutil_jni_src})
+if(NOT WITH_PROTOBUF)
+    list(FILTER wpiutil_native_src EXCLUDE REGEX "/protobuf/")
+endif()
 file(GLOB_RECURSE wpiutil_unix_src src/main/native/unix/*.cpp)
 file(GLOB_RECURSE wpiutil_linux_src src/main/native/linux/*.cpp)
 file(GLOB_RECURSE wpiutil_macos_src src/main/native/macOS/*.cpp)
@@ -143,7 +146,12 @@ if(MSVC)
     target_compile_definitions(wpiutil PRIVATE -D_CRT_SECURE_NO_WARNINGS)
 endif()
 wpilib_target_warnings(wpiutil)
-target_link_libraries(wpiutil protobuf::libprotobuf Threads::Threads ${CMAKE_DL_LIBS})
+if(WITH_PROTOBUF)
+    target_link_libraries(wpiutil protobuf::libprotobuf Threads::Threads ${CMAKE_DL_LIBS})
+else()
+    target_link_libraries(wpiutil Threads::Threads ${CMAKE_DL_LIBS})
+    target_compile_definitions(wpiutil PUBLIC NO_PROTOBUF)
+endif()
 
 if(ATOMIC)
     target_link_libraries(wpiutil ${ATOMIC})