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Here you can learn more about ROS Client Library (rcl) for ROS2: https://index.ros.org/doc/ros2/Concepts/ROS-2-Client-Libraries/

rclcpp is a c++ client libary for ROS2 written for c++. rclpy i.e. is a client libary for ROS2 written for Python3. They both rely on the core libary rcl written in C.

roscpp is a c++ client Libary for ROS1: https://wiki.ros.org/roscpp

The mentioned libraries come all pre-installed when you install your desired ROS distro (base or desktop)

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