FYI I’ve spent the last month working on my swift implementation, derived from dotnet client. Almost done with message generation. It builds super easily on Linux with colcon and ament Cmake, so that’s nice. The whole core client library still needs writing once message generation is complete, let me know if you’re interested in contributing or would prefer to stick with the objective C library. The idea with my ground up rewrite is to support more features like executors and multi node composition, enabled by the excellent GCD framework.
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