Move from other project.

CMakeLists.txt

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+cmake_minimum_required(VERSION 4.2)
+project(j7s_ros_common)
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+
+# Install launch and param files.
+install(DIRECTORY
+  launch config
+  DESTINATION share/${PROJECT_NAME}/
+)
+
+ament_package()

config/ROUTER_CONFIG.json5

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+{
+  /// The node's mode (router, peer or client)
+  mode: "router",
+
+  /// Which endpoints to connect to. E.g. tcp/localhost:7447.
+  /// This should list all the routers for this robot.
+  connect: {
+    endpoints: [
+    ],
+  },
+
+  /// Which endpoints to listen on. E.g. tcp/0.0.0.0:7447.
+  listen: {
+    endpoints: [
+      "tcp/0.0.0.0:7447",
+    ],
+  },
+  /// Configure the scouting mechanisms and their behaviours
+  scouting: {
+    /// Disable multicast.
+    multicast: {
+      /// Whether multicast scouting is enabled or not
+      enabled: false,
+    },
+    /// Enable gossip scouting.
+    gossip: {
+      /// Whether gossip scouting is enabled or not
+      enabled: true,
+    },
+  },
+
+  /// Configuration of data messages timestamps management.
+  timestamping: {
+    /// ROS setting: PublicationCache which is required for transient_local durability
+    ///              only works when time-stamping is enabled.
+    enabled: true,
+  },
+
+  /// Configure internal transport parameters
+  transport: {
+    unicast: {
+      compression: {
+        enabled: true,
+      },
+    },
+    link: {
+      tx: {
+        queue: {
+          congestion_control: {
+            drop: {
+              /// The maximum time in microseconds to wait for an available batch (place in queue) before dropping
+              /// a droppable message if still no batch is available.
+              wait_before_drop: 100000,
+            },
+          },
+        },
+      },
+    },
+    /// Shared memory configuration.
+    shared_memory: {
+      enabled: false,
+    },
+  },
+}

config/SESSION_CONFIG.json5

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+{
+  /// The node's mode (router, peer or client)
+  mode: "peer",
+
+  /// Which endpoints to connect to. E.g. tcp/localhost:7447.
+  /// By configuring the endpoints, it is possible to tell zenoh which router/peer to connect to at startup.
+  /// We only connect our local router at first.
+  connect: {
+    endpoints: [
+      "tcp/localhost:7447",
+    ],
+    retry: {
+       period_init_ms: 100,
+       period_max_ms: 10000
+    },
+  },
+
+  /// Which endpoints to listen on. E.g. tcp/0.0.0.0:7447.
+  /// By configuring the endpoints, it is possible to tell zenoh which are the endpoints that other routers,
+  /// peers, or client can use to establish a zenoh session.
+  /// "tcp/[::]:0", "udp/0.0.0.0:0?rel=1;mixed_rel=1"
+  listen: {
+    endpoints: [
+      "tcp/0.0.0.0:0", "udp/0.0.0.0:0?rel=1;mixed_rel=1"
+    ],
+  },
+
+  /// Configure the scouting mechanisms and their behaviours
+  scouting: {
+    /// Disable multicast.
+    multicast: {
+      enabled: false,
+    },
+    /// Enable gossip.
+    gossip: {
+      enabled: true,
+    },
+  },
+
+  /// Configuration of data messages timestamps management.
+  timestamping: {
+    /// ROS setting: PublicationCache which is required for transient_local durability
+    ///              only works when time-stamping is enabled.
+    enabled: true,
+  },
+
+  /// Configure internal transport parameters
+  transport: {
+    unicast: {
+      compression: {
+        enabled: true,
+      },
+    },
+    link: {
+      tx: {
+        queue: {
+          congestion_control: {
+            drop: {
+              /// The maximum time in microseconds to wait for an available batch (place in queue) before dropping
+              /// a droppable message if still no batch is available.
+              wait_before_drop: 100000,
+            },
+          },
+        },
+      },
+    },
+    /// Shared memory configuration.
+    shared_memory: {
+      enabled: false,
+    },
+  },
+}

config/setup.bash

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+#!/usr/bin/env bash
+SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" &> /dev/null && pwd )"
+
+export RMW_IMPLEMENTATION=rmw_zenoh_cpp
+export ZENOH_ROUTER_CHECK_ATTEMPTS=-1
+export ZENOH_ROUTER_CONFIG_URI=${SCRIPT_DIR}/ROUTER_CONFIG.json5
+export ZENOH_SESSION_CONFIG_URI=${SCRIPT_DIR}/SESSION_CONFIG.json5
+export ROS_STATIC_PEERS=""
+
+# This can be called to setup which routers to connect to.
+# I.E. On my laptop I source this config. I want to connect to
+# a robot with IP address 192.168.1.100
+# I can call `zenoh_router_ip 192.168.1.100` and then I will talk to its
+# router.
+zenoh_router_ip() {
+    local endpoints=()
+    for ip in "$@"; do
+        endpoints+=("'tcp/$ip:7447'")
+    done
+    local IFS=,
+    export ZENOH_CONFIG_OVERRIDE="connect/endpoints=[${endpoints[*]}];"
+}
+

launch/zenoh_router.launch.py

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+import launch
+import launch_ros.actions
+import launch.substitutions
+import launch.substitution
+from launch.some_substitutions_type import SomeSubstitutionsType
+import launch.conditions
+
+import socket
+
+def generate_launch_description():
+    nodes = []
+    nodes.append(make_router())
+    return launch.LaunchDescription(nodes)
+
+def setup_router_env():
+    # In theory you can use this to set up the environment on the router
+    # in a unique way.
+    # I tried something like wat you see below at one point, though
+    # it didn't pan out.
+    # I'm just goint to leave it as an example here.
+    #zenoh_runtime_settings = "( rx: (worker_threads: 2), acc: (worker_threads: 2), tx: (worker_threads: 2), app: (worker_threads: 2) )"
+    #env = {"ZENOH_RUNTIME": zenoh_runtime_settings}
+    env = None
+    return env
+
+def make_router():
+    zenoh_is_rmw = launch.substitutions.EqualsSubstitution(
+                    'rmw_zenoh_cpp',
+                    launch.substitutions.EnvironmentVariable('RMW_IMPLEMENTATION', default_value='')
+    )
+    router_port_is_free = PortIsFree('7447')
+
+    condition = launch.conditions.IfCondition(
+        launch.substitutions.AndSubstitution(zenoh_is_rmw, router_port_is_free)
+    )
+    node = launch_ros.actions.Node(
+        package = "rmw_zenoh_cpp",
+        executable="rmw_zenohd",
+        name="zenoh_router",
+        condition=condition,
+        additional_env=setup_router_env()
+    )
+    return node
+
+######
+# Custom actions/substitutions
+######
+
+class PortIsFree(launch.substitution.Substitution):
+    def __init__(self, port: SomeSubstitutionsType):
+        super().__init__()
+        self._port = port
+
+    def perform(self, context):
+        port_as_string = self._port if isinstance(self._port, str) else self._port.perform(context)
+        port_as_int = int(port_as_string)
+
+        if is_port_in_use_for_tcp(port_as_int):
+            return "False"
+        return "True"
+
+def is_port_in_use_for_tcp(port):
+    with socket.socket(socket.AF_INET, socket.SOCK_STREAM) as sock:
+        return sock.connect_ex(('localhost', port)) == 0

package.xml

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+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>j7s_ros_common</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="jpace121@gmail.com">jimmy</maintainer>
+  <license>TODO: License declaration</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>