diff --git a/src/RosLib.ts b/src/RosLib.ts
index 8e30a84df..a8302c5c2 100644
--- a/src/RosLib.ts
+++ b/src/RosLib.ts
@@ -54,10 +54,54 @@ export {
   default as UrdfVisual,
   type UrdfGeometryLike,
 } from "./urdf/UrdfVisual.js";
-
 export {
   UrdfAttrs,
   UrdfType,
   type UrdfDefaultOptions,
 } from "./urdf/UrdfTypes.js";
 export { isElement, parseUrdfOrigin } from "./urdf/UrdfUtils.js";
+
+// Rosbridge Protocol exports
+export {
+  type RosbridgeMessage,
+  type RosbridgeSetStatusLevelMessage,
+  type RosbridgeFragmentMessage,
+  type RosbridgePngMessage,
+  type RosbridgeAdvertiseMessage,
+  type RosbridgeUnadvertiseMessage,
+  type RosbridgePublishMessage,
+  type RosbridgeSubscribeMessage,
+  type RosbridgeUnsubscribeMessage,
+  type RosbridgeAdvertiseServiceMessage,
+  type RosbridgeUnadvertiseServiceMessage,
+  type RosbridgeCallServiceMessage,
+  type RosbridgeServiceResponseMessage,
+  type RosbridgeAdvertiseActionMessage,
+  type RosbridgeUnadvertiseActionMessage,
+  type RosbridgeSendActionGoalMessage,
+  type RosbridgeCancelActionGoalMessage,
+  type RosbridgeActionFeedbackMessage,
+  type RosbridgeActionResultMessage,
+  type RosbridgeActionStatusMessage,
+  isRosbridgeMessage,
+  isRosbridgeSetStatusLevelMessage,
+  isRosbridgeFragmentMessage,
+  isRosbridgePngMessage,
+  isRosbridgeAdvertiseMessage,
+  isRosbridgeUnadvertiseMessage,
+  isRosbridgePublishMessage,
+  isRosbridgeSubscribeMessage,
+  isRosbridgeUnsubscribeMessage,
+  isRosbridgeAdvertiseServiceMessage,
+  isRosbridgeUnadvertiseServiceMessage,
+  isRosbridgeCallServiceMessage,
+  isRosbridgeServiceResponseMessage,
+  isRosbridgeAdvertiseActionMessage,
+  isRosbridgeUnadvertiseActionMessage,
+  isRosbridgeSendActionGoalMessage,
+  isRosbridgeCancelActionGoalMessage,
+  isRosbridgeActionFeedbackMessage,
+  isRosbridgeActionResultMessage,
+  isRosbridgeActionStatusMessage,
+  isRosbridgeStatusMessage,
+} from "./types/protocol.js";