Add router node.

src/ZenohRouter.cpp

@@ -0,0 +1,29 @@
+//
+// Copyright 2026 James Pace
+//
+// This Source Code Form is subject to the terms of the Mozilla Public
+// License, v. 2.0. If a copy of the MPL was not distributed with this
+// file, You can obtain one at https://mozilla.org/MPL/2.0/.
+//
+// This Source Code Form is "Incompatible With Secondary Licenses", as
+// defined by the Mozilla Public License, v. 2.0.
+//
+#include <fmt/core.h>
+
+#include <algorithm>
+#include <j7s_zenoh_bridge/ZenohRouter.hpp>
+
+namespace j7s
+{
+
+ZenohRouter::ZenohRouter(const rclcpp::NodeOptions & options) : Node("zenoh_bridge", options)
+{
+    const auto zenohConfigPath = this->declare_parameter<std::string>("zenoh_config_path");
+    auto config = zenoh::Config::from_file(zenohConfigPath);
+    m_zenohSession = std::make_shared<zenoh::Session>(std::move(config));
+}
+
+};  // namespace j7s
+
+#include <rclcpp_components/register_node_macro.hpp>
+RCLCPP_COMPONENTS_REGISTER_NODE(j7s::ZenohRouter)