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I am working on developing a swift client library for ROS2, building off of the work from @esteve on rcldotnet.

In that case, it may help to build on top of https://github.com/esteve/ros2_objc , it already supports message generation and basic pubsub for Objective-C, so adding Swift bindings on top of the Objective-C API will save you a lot of time, since message generation is already there. I know for a fact that mixing ros2_objc with Swift works fine.

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