Native Swift client libraries for ROS 2. Publish, subscribe, and call services over Zenoh or DDS from Apple platforms, Linux, Windows, and Android, without cross-compiling the rcl / rclcpp stack and without a bridge. The API is Swift-native (async/await, AsyncStream, Sendable) and round-trip compatible with rmw_zenoh_cpp and rmw_cyclonedds_cpp.
| Repository | What it provides |
|---|---|
| swift-ros2 | The runtime: Zenoh, DDS, and RCL transports, contexts and nodes, publishers and subscriptions, services, actions, and parameters |
| swift-ros2-rosidl | The interface layer: CDR serialization, message protocols, and the swift-ros2-gen code generator |
| swift-ros2-common-interfaces | Generated Swift types for the standard messages (sensor_msgs, geometry_msgs, std_msgs, …) and tf2_msgs |
| swift-ros2-extra-interfaces | Generated Swift types for control_msgs and moveit_msgs |
zenoh-pico and cyclonedds are forks of the Eclipse projects that the transports build on.
dependencies: [
.package(url: "https://github.com/swift-ros2/swift-ros2.git", from: "3.1.2"),
.package(url: "https://github.com/swift-ros2/swift-ros2-common-interfaces.git", from: "1.0.0"),
]
// target dependencies:
.product(name: "SwiftROS2", package: "swift-ros2"),
.product(name: "CommonInterfaces", package: "swift-ros2-common-interfaces"),See the swift-ros2 README for the quick start and the Swift Package Index page for API documentation.
The logo is a mynah perched on a piece of a ROS 2 graph: the two navy circles are nodes and the orange line between them is the topic that connects them. A mynah can mimic human speech, and swift-ros2 lets Swift apps speak ROS 2 natively, talking to rmw_zenoh_cpp and rmw_cyclonedds_cpp peers on the wire without a bridge. The bird is also a pun: its Japanese name, 九官鳥 (kyūkanchō), begins with 九, "nine", a nod to the nine dots of the ROS logo. A swift is a bird too, so a different bird nods to the language while keeping the mark our own. The artwork uses three flat colors: navy #22314E, orange #F26A2E, and white.
Issues and pull requests are welcome in each repository. The swift-ros2 packages are licensed under Apache 2.0.
ROS and the "nine dots" ROS logo are trademarks of Open Source Robotics Foundation. Swift is a trademark of Apple Inc. This project is not affiliated with or endorsed by either organization.
