Init commit.

.clang-format

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+# This is the standard clang format file for CPP files for
+# the j7s project.
+---
+Language: Cpp
+BasedOnStyle: Google
+
+AccessModifierOffset: -4
+AlignAfterOpenBracket: AlwaysBreak
+BreakBeforeBraces: Allman
+ColumnLimit: 100
+ConstructorInitializerIndentWidth: 4
+ContinuationIndentWidth: 4
+DerivePointerAlignment: false
+PointerAlignment: Middle
+ReflowComments: false
+AllowShortBlocksOnASingleLine: false
+BreakConstructorInitializers: AfterColon
+BreakInheritanceList: AfterColon
+AllowShortFunctionsOnASingleLine: Inline
+IndentWidth: 4
+...

CMakeLists.txt

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+cmake_minimum_required(VERSION 4.2)
+project(j7s_zenoh_bridge)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(rclcpp_components REQUIRED)
+find_package(fmt REQUIRED)
+
+find_package(zenohc)
+find_package(zenohcxx)
+
+add_library(zenoh_bridge_component SHARED src/ZenohBridge.cpp)
+target_include_directories(zenoh_bridge_component PUBLIC
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+  $<INSTALL_INTERFACE:include/${PROJECT_NAME}>)
+target_link_libraries(zenoh_bridge_component
+    rclcpp::rclcpp
+    rclcpp_components::component
+    zenohcxx::zenohc
+    fmt::fmt
+)
+
+rclcpp_components_register_node(zenoh_bridge_component
+    PLUGIN "j7s::ZenohBridge"
+    EXECUTABLE zenoh_bridge
+)
+
+ament_export_targets(export_${PROJECT_NAME} HAS_LIBRARY_TARGET)
+install(TARGETS zenoh_bridge_component
+        EXPORT export_${PROJECT_NAME}
+        ARCHIVE DESTINATION lib
+        LIBRARY DESTINATION lib
+        RUNTIME DESTINATION bin
+)
+
+# Install launch and param files.
+install(DIRECTORY
+  launch params
+  DESTINATION share/${PROJECT_NAME}/
+)
+
+ament_package()

include/j7s_zenoh_bridge/ZenohBridge.hpp

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+//
+// 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 Config
+{
+public:
+    Config(rclcpp::Node & node, const std::string & prefix);
+
+    // TODO: Should we specify QoS here?
+    std::string m_rosTopic;
+    std::string m_zenohKeyExpr;
+    std::string m_rosType;
+};
+
+class ZenohSource
+{
+public:
+    ZenohSource(
+        rclcpp::Node & node, const std::shared_ptr<zenoh::Session> session, const Config & config);
+
+private:
+    std::shared_ptr<rclcpp::GenericPublisher> m_publisher;
+    std::shared_ptr<zenoh::Subscriber<void>> m_subscriber;
+};
+
+class RosSource
+{
+public:
+    RosSource(
+        rclcpp::Node & node, const std::shared_ptr<zenoh::Session> session, const Config & config);
+
+private:
+    std::shared_ptr<zenoh::Publisher> m_publisher;
+    std::shared_ptr<rclcpp::GenericSubscription> m_subscriber;
+};
+
+class ZenohBridge : public rclcpp::Node
+{
+public:
+    ZenohBridge(const rclcpp::NodeOptions & options);
+
+private:
+    std::vector<ZenohSource> m_zenohSources;
+    std::vector<RosSource> m_rosSources;
+
+    std::shared_ptr<zenoh::Session> m_zenohSession;
+};
+
+}  // namespace j7s

launch/test.launch.xml

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+<launch>
+  <node name="in_node" pkg="j7s_zenoh_bridge" exec="zenoh_bridge">
+    <param from="$(find-pkg-share j7s_zenoh_bridge)/params/in.yaml"/>
+  </node>
+  <node name="out_node" pkg="j7s_zenoh_bridge" exec="zenoh_bridge">
+    <param from="$(find-pkg-share j7s_zenoh_bridge)/params/out.yaml"/>
+  </node>
+</launch>

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_zenoh_bridge</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="jpace121@gmail.com">jimmy</maintainer>
+  <license>MPL 2.0</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <depend>rclcpp_components</depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

params/in.yaml

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+/**:
+   ros__parameters:
+      ros_sources:
+         - a_source
+
+      a_source:
+         ros_topic: "/ros/test_in"
+         zenoh_key_expr: "ros/test"
+         ros_type: "std_msgs/msg/String"

params/out.yaml

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+/**:
+   ros__parameters:
+      zenoh_sources:
+         - a_source
+
+      a_source:
+         ros_topic: "/ros/test_out"
+         zenoh_key_expr: "ros/test"
+         ros_type: "std_msgs/msg/String"

src/ZenohBridge.cpp

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+//
+// 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/ZenohBridge.hpp>
+
+namespace j7s
+{
+
+ZenohBridge::ZenohBridge(const rclcpp::NodeOptions & options) : Node("zenoh_bridge", options)
+{
+    // Should this be from a file?
+    // TODO: static inline Config from_file(const std::string &path, ZResult *err = nullptr)
+    auto config = zenoh::Config::create_default();
+    m_zenohSession = std::make_shared<zenoh::Session>(std::move(config));
+
+    const auto emptyVector = std::vector<std::string>();
+    const auto zenohSourceNames =
+        this->declare_parameter<std::vector<std::string>>("zenoh_sources", emptyVector);
+    const auto rosSourceNames =
+        this->declare_parameter<std::vector<std::string>>("ros_sources", emptyVector);
+
+    // Make all the zenoh subs.
+    for (const auto & source : zenohSourceNames)
+    {
+        const Config config(*this, source);
+        m_zenohSources.emplace_back(*this, m_zenohSession, config);
+    }
+
+    // Make all the ros subs.
+    for (const auto & source : rosSourceNames)
+    {
+        const Config config(*this, source);
+        m_rosSources.emplace_back(*this, m_zenohSession, config);
+    }
+}
+
+Config::Config(rclcpp::Node & node, const std::string & prefix)
+{
+    m_rosTopic = node.declare_parameter<std::string>(fmt::format("{}.ros_topic", prefix));
+    m_zenohKeyExpr = node.declare_parameter<std::string>(fmt::format("{}.zenoh_key_expr", prefix));
+    m_rosType = node.declare_parameter<std::string>(fmt::format("{}.ros_type", prefix));
+}
+
+ZenohSource::ZenohSource(
+    rclcpp::Node & node, const std::shared_ptr<zenoh::Session> session, const Config & config)
+{
+    m_publisher = node.create_generic_publisher(config.m_rosTopic, config.m_rosType, 1);
+
+    m_subscriber = std::make_shared<zenoh::Subscriber<void>>(session->declare_subscriber(
+        zenoh::KeyExpr(config.m_zenohKeyExpr),
+        [this](const zenoh::Sample & sample)
+        {
+            const std::vector<uint8_t> message = sample.get_payload().as_vector();
+
+            rcutils_uint8_array_t toPublish;
+            const auto defaltAllocator = rcutils_get_default_allocator();
+            rcutils_ret_t retVal;
+            retVal = rcutils_uint8_array_init(&toPublish, message.size(), &defaltAllocator);
+            if (retVal != RCUTILS_RET_OK)
+            {
+                throw std::runtime_error("Failed to allocate memory.");
+            }
+            std::copy(message.begin(), message.end(), toPublish.buffer);
+            toPublish.buffer_length = message.size();
+
+            m_publisher->publish(rclcpp::SerializedMessage(toPublish));
+        },
+        zenoh::closures::none));
+}
+
+RosSource::RosSource(
+    rclcpp::Node & node, const std::shared_ptr<zenoh::Session> session, const Config & config)
+{
+    m_publisher = std::make_shared<zenoh::Publisher>(
+        session->declare_publisher(zenoh::KeyExpr(config.m_zenohKeyExpr)));
+
+    // TODO: Allow QoS to be set.
+    m_subscriber = node.create_generic_subscription(
+        config.m_rosTopic, config.m_rosType, 1,
+        [this](const rclcpp::SerializedMessage & msg)
+        {
+            rcutils_uint8_array_t rawData = msg.get_rcl_serialized_message();
+            const std::vector<uint8_t> dataAsVector(
+                rawData.buffer, rawData.buffer + rawData.buffer_length);
+            zenoh::Bytes dataForZenoh(std::move(dataAsVector));
+
+            m_publisher->put(std::move(dataForZenoh));
+        });
+}
+
+};  // namespace j7s
+
+#include <rclcpp_components/register_node_macro.hpp>
+RCLCPP_COMPONENTS_REGISTER_NODE(j7s::ZenohBridge)