Add router node.

CMakeLists.txt

@@ -30,6 +30,22 @@ rclcpp_components_register_node(zenoh_bridge_component
     EXECUTABLE zenoh_bridge
 )
 
+add_library(zenoh_router_component SHARED src/ZenohRouter.cpp)
+target_include_directories(zenoh_router_component PUBLIC
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+  $<INSTALL_INTERFACE:include/${PROJECT_NAME}>)
+target_link_libraries(zenoh_router_component
+    rclcpp::rclcpp
+    rclcpp_components::component
+    zenohcxx::zenohc
+    fmt::fmt
+)
+
+rclcpp_components_register_node(zenoh_router_component
+    PLUGIN "j7s::ZenohRouter"
+    EXECUTABLE zenoh_router
+)
+
 add_executable(get_default_config
     src/bin/get_default_config.cpp
 )
@@ -39,7 +55,7 @@ target_link_libraries(get_default_config
 )
 
 ament_export_targets(export_${PROJECT_NAME} HAS_LIBRARY_TARGET)
-install(TARGETS zenoh_bridge_component get_default_config
+install(TARGETS zenoh_bridge_component zenoh_router_component get_default_config
         EXPORT export_${PROJECT_NAME}
         ARCHIVE DESTINATION lib
         LIBRARY DESTINATION lib

include/j7s_zenoh_bridge/ZenohRouter.hpp

@@ -0,0 +1,27 @@
+//
+// 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.
+//
+#pragma once
+#include <rclcpp/rclcpp.hpp>
+
+#include "zenoh.hxx"
+
+namespace j7s
+{
+class ZenohRouter : public rclcpp::Node
+{
+public:
+    ZenohRouter(const rclcpp::NodeOptions & options);
+
+private:
+    std::shared_ptr<zenoh::Session> m_zenohSession;
+};
+
+}  // namespace j7s

launch/test.launch.xml

@@ -1,10 +1,13 @@
 <launch>
   <node name="in_node" pkg="j7s_zenoh_bridge" exec="zenoh_bridge">
-    <param name="zenoh_config_path" value="$(find-pkg-share j7s_zenoh_bridge)/params/DEFAULT_CONFIG.json5"/>
+    <param name="zenoh_config_path" value="$(find-pkg-share j7s_zenoh_bridge)/params/client_config.json5"/>
     <param from="$(find-pkg-share j7s_zenoh_bridge)/params/in.yaml"/>
   </node>
   <node name="out_node" pkg="j7s_zenoh_bridge" exec="zenoh_bridge">
-    <param name="zenoh_config_path" value="$(find-pkg-share j7s_zenoh_bridge)/params/DEFAULT_CONFIG.json5"/>
+    <param name="zenoh_config_path" value="$(find-pkg-share j7s_zenoh_bridge)/params/client_config.json5"/>
     <param from="$(find-pkg-share j7s_zenoh_bridge)/params/out.yaml"/>
   </node>
+  <node name="router" pkg="j7s_zenoh_bridge" exec="zenoh_router">
+    <param name="zenoh_config_path" value="$(find-pkg-share j7s_zenoh_bridge)/params/router_config.json5"/>
+  </node>
 </launch>

params/client_config.json5

@@ -20,7 +20,7 @@
     ///
     /// See https://docs.rs/zenoh/latest/zenoh/config/struct.EndPoint.html
     endpoints: [
-      // "<proto>/<address>"
+      "tcp/localhost:7447"
     ],
 
   },

params/router_config.json5

@@ -0,0 +1,41 @@
+{
+  /// The node's mode (router, peer or client)
+  mode: "router",
+
+  /// The node's metadata (name, location, DNS name, etc.) Arbitrary JSON data not interpreted by zenoh and available in admin space @/<zid>/router, @/<zid>/peer or @/<zid>/client
+  metadata: {
+  },
+
+  /// 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.
+  connect: {
+    /// timeout waiting for all endpoints connected (0: no retry, -1: infinite timeout)
+    /// Accepts a single value (e.g. timeout_ms: 0)
+    /// or different values for router, peer and client (e.g. timeout_ms: { router: -1, peer: -1, client: 0 }).
+    timeout_ms: { router: -1, peer: -1, client: 0 },
+
+    /// The list of endpoints to connect to.
+    /// Accepts a single list (e.g. endpoints: ["tcp/10.10.10.10:7447", "tcp/11.11.11.11:7447"])
+    /// or different lists for router, peer and client (e.g. endpoints: { router: ["tcp/10.10.10.10:7447"], peer: ["tcp/11.11.11.11:7447"] }).
+    ///
+    /// See https://docs.rs/zenoh/latest/zenoh/config/struct.EndPoint.html
+    endpoints: [
+      // "<proto>/<address>"
+    ],
+
+  },
+
+  /// 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.
+  listen: {
+
+    /// The list of endpoints to listen on.
+    /// Accepts a single list (e.g. endpoints: ["tcp/[::]:7447", "udp/[::]:7447"])
+    /// or different lists for router, peer and client (e.g. endpoints: { router: ["tcp/[::]:7447"], peer: ["tcp/[::]:0"] }).
+    ///
+    /// See https://docs.rs/zenoh/latest/zenoh/config/struct.EndPoint.html
+    endpoints: ["tcp/0.0.0.0:7447"],
+
+  },
+}

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)