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rclc

  • Software
  • Middleware
  • Library

rclc is a C client library for ROS 2 that adds convenience functions over the rcl types, plus a single-threaded executor, lifecycle nodes and a parameter server.

Made by ROS 2.

Source on GitHub: github.com/ros2/rclc (opens in a new tab). Facts read at commit f8f049c (opens in a new tab).

Licenses

Code
Apache-2.0 (opens in a new tab)

Read by Robotheca from LICENSE (opens in a new tab) (Apache-2.0) at commit f8f049c (opens in a new tab), on 16 Oct 2026.

Commercial use
Yes

What it does

  • Provides convenience functions for creating publishers, subscriptions, nodes and similar objects from the rcl types.
  • Includes an rclc Executor for C, modeled on the rclcpp executor, with features for deterministic timing behavior.
  • Adds an rclc Lifecycle Node that bundles an rcl node with the lifecycle state machine.
  • Offers a parameter server with compatibility for the ROS 2 parameters client.
  • Ships small examples showing use of the convenience functions, the executor and the lifecycle node.
  • The executor is single-threaded, so nodes cannot be created across multiple threads and managed by one executor.

Written by Robotheca from the project's README (opens in a new tab) at commit f8f049c.

Getting started

Difficulty
Advanced

Maintenance

Status
Active: a commit in the last 90 days
Newest commit
2 Oct 2026 on rolling
Latest release
Rolling 6.3.0 (10 Mar 2026)

Checked on GitHub on 16 Oct 2026.

Links

Robots that can run it

No robot on Robotheca is linked to it yet. Links come from a robot's robot.yaml, from its dependency files read as text, or from Robotheca's editors.

Robotheca lists software as a reference: nothing is hosted or run here, and every fact links to where it was read.