Yes, it's possible to add Swift into the mix, just follow Apple's instructions:
https://developer.apple.com/library/content/documentation/Swift/Conceptual/BuildingCocoaApps/MixandMatch.html
I targeted Objective C because it's easier to integrate with existing code, and generating ROS2 code for it is fairly straightforward, compared to Swift. But in the end, you can just write an application in Swift and import the Objective C bindings.
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