Javascript insertion in footer - Module development

Hi, i am creating a module, everything is ok so far, but for last i need to have some JS inserted in the footer. How can i accomplish this from within the module? More details: I have created a module that creates a form which sends data to the CRM. Now i want it to send the data via AJAX and that requires some JS in the footer. Is there a way to access lets say {layout:set name="js"} from the module? Or some webhook? I want this JS to be inserted only on pages where there are forms, where the module is used…

P.S. I am pretty new with module develoment….