# ROS2 client library for Julialang

**URL:** <https://discourse.openrobotics.org/t/ros2-client-library-for-julialang/11858>\
**Category:** ROS General\
**Tags:** ros2\
**Created:** [December 9, 2019, 6:52pm UTC](https://discourse.openrobotics.org/t/ros2-client-library-for-julialang/11858 "2019-12-09T18:52:36Z")\
**Posts on this page:** 8\
**Page:** 1

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**Author:** ![AndreasZiegler](https://avatars.discourse-cdn.com/v4/letter/a/bbe5ce/32.png) [@AndreasZiegler](https://discourse.openrobotics.org/u/AndreasZiegler)\
**Post date:** [December 9, 2019, 6:52pm UTC](https://discourse.openrobotics.org/t/ros2-client-library-for-julialang/11858/1 "2019-12-09T18:52:36Z")

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Hi

I’m wondering if there are any attempts for a ROS2 client library for [Julia(lang)](https://julialang.org/)? I very much like the concepts of Julia and would like to use it in my robotics applications. With [JuliaRobotics](http://www.juliarobotics.org/) there exist nice package for the robotics community but without ROS2 support I can’t really make use of it as I have to integrate new algorithms in an existing environment.

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**Author:** ![gstavrinos](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/gstavrinos/32/1631_2.png) [@gstavrinos](https://discourse.openrobotics.org/u/gstavrinos)\
**Post date:** [December 10, 2019, 12:03pm UTC](https://discourse.openrobotics.org/t/ros2-client-library-for-julialang/11858/2 "2019-12-10T12:03:44Z")

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I do not have any knowledge about such package, but I would be very interested to contribute.

I was thinking of implementing one myself, but with my current schedule it’s almost impossible. This does not mean that I won’t do so in the future.

I will keep you updated, and please keep me updated too.

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**Author:** ![AndreasZiegler](https://avatars.discourse-cdn.com/v4/letter/a/bbe5ce/32.png) [@AndreasZiegler](https://discourse.openrobotics.org/u/AndreasZiegler)\
**Post date:** [April 29, 2020, 8:24am UTC](https://discourse.openrobotics.org/t/ros2-client-library-for-julialang/11858/3 "2020-04-29T08:24:25Z")

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I just came across [this repository](https://github.com/nstiurca/Rcl.jl). Seems not too out of date but not sure about it’s current state.

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**Author:** ![gstavrinos](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/gstavrinos/32/1631_2.png) [@gstavrinos](https://discourse.openrobotics.org/u/gstavrinos)\
**Post date:** [April 29, 2020, 10:51am UTC](https://discourse.openrobotics.org/t/ros2-client-library-for-julialang/11858/4 "2020-04-29T10:51:35Z")

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Hey Andreas, thanks for the heads up. The package seems to have some work into it, but from the examples, I can see that there are no Julia-like functions exposed for direct use but C-related stuff (ccalls and object refs). It is worth investigating though, even for a baseline.

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**Author:** ![acxz](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/acxz/32/4985_2.png) [@acxz](https://discourse.openrobotics.org/u/acxz)\
**Post date:** [April 23, 2022, 10:31pm UTC](https://discourse.openrobotics.org/t/ros2-client-library-for-julialang/11858/5 "2022-04-23T22:31:21Z")

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Sorry for the necrobump, but I was wondering if there is still interest in such an endeavor.

I know that current client library efforts are being concentrated for Rust, but having Julia as a client language but make life very productive for researchers looking to quickly deploy high performant code who are not well versed in lower level languages such as C++/Rust.

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**Author:** ![wall.e](https://avatars.discourse-cdn.com/v4/letter/w/e9c0ed/32.png) [@wall.e](https://discourse.openrobotics.org/u/wall.e)\
**Post date:** [May 10, 2022, 4:25am UTC](https://discourse.openrobotics.org/t/ros2-client-library-for-julialang/11858/6 "2022-05-10T04:25:49Z")

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I’d appreciate a Julia client lib a lot, right now there’s a lot of jumping through hoops for using an otherwise extremely productive language. Would be interested in contributing as well.

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**Author:** ![AndreasZiegler](https://avatars.discourse-cdn.com/v4/letter/a/bbe5ce/32.png) [@AndreasZiegler](https://discourse.openrobotics.org/u/AndreasZiegler)\
**Post date:** [May 15, 2022, 5:28pm UTC](https://discourse.openrobotics.org/t/ros2-client-library-for-julialang/11858/7 "2022-05-15T17:28:58Z")

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Yes, I’m indeed still very much interested.

Exactly because I believe, that writing code in Julia is very efficient and productive. As a robotics engineer and researcher, I would definitively appreciate the possibility to use ROS2 with Julia.

Depending on the time I have available, I’m also willing and interested to contribute.

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**Author:** ![connorfuhrman](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/connorfuhrman/32/13601_2.png) [@connorfuhrman](https://discourse.openrobotics.org/u/connorfuhrman)\
**Post date:** [May 29, 2022, 6:20pm UTC](https://discourse.openrobotics.org/t/ros2-client-library-for-julialang/11858/8 "2022-05-29T18:20:54Z")

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In the same boat here. Would be excellent to have a Julia client library. Wonder how much functionality could be taken from the [rclc](https://github.com/ros2/rclc) C client library at least initially? Also willing in interested to contribute.