In history, the rope climb is probably one of the oldest training tools that has been used. It certainly has been part of military training for as long as warfare and ropes have existed.
It's simply such a practical skill to be able to climb walls in order to siege your enemy. Ropes have had lots of utility in many aspects of life for millennia.
As a result, many ancient cultures have developed sophisticated systems of rope training. They didn't just climb the rope up and down but rather utilized the tool to its full capacity.
During Renaissance, Girolamo Mercuriale wrote a book called "De Arte Gymnastica". In this book the author outlined many exercises using the ropes (in addition to other tools such as stone blocks and stone balls).
At the time, people would do so many things with the rope: they would utilize the regular exercises but also use the rope horizontally for balancing and stability exercises.
They would also climb the rope in different postures and sometimes climb using 2 ropes at the same time.
In ancient India, many wrestlers would also train using the ropes and even hanged weights to the other end of the rope. Then they either did horizontal pulling or pulled vertically different loads of weight.
I teach a lot about rope training at IronKingMethod.com