Read config from file.

CMakeLists.txt

@@ -30,8 +30,16 @@ rclcpp_components_register_node(zenoh_bridge_component
     EXECUTABLE zenoh_bridge
 )
 
+add_executable(get_default_config
+    src/bin/get_default_config.cpp
+)
+target_link_libraries(get_default_config
+    zenohcxx::zenohc
+    fmt::fmt
+)
+
 ament_export_targets(export_${PROJECT_NAME} HAS_LIBRARY_TARGET)
-install(TARGETS zenoh_bridge_component
+install(TARGETS zenoh_bridge_component get_default_config
         EXPORT export_${PROJECT_NAME}
         ARCHIVE DESTINATION lib
         LIBRARY DESTINATION lib

launch/test.launch.xml

@@ -1,8 +1,10 @@
 <launch>
   <node name="in_node" pkg="j7s_zenoh_bridge" exec="zenoh_bridge">
+    <param name="zenoh_config_path" value="$(find-pkg-share j7s_zenoh_bridge)/params/DEFAULT_CONFIG.json5"/>
     <param from="$(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="$(find-pkg-share j7s_zenoh_bridge)/params/DEFAULT_CONFIG.json5"/>
     <param from="$(find-pkg-share j7s_zenoh_bridge)/params/out.yaml"/>
   </node>
 </launch>

params/DEFAULT_CONFIG.json5

@@ -0,0 +1,41 @@
+{
+  /// The node's mode (router, peer or client)
+  mode: "peer",
+
+  /// 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"],
+
+  },
+}

src/ZenohBridge.cpp

@@ -18,17 +18,17 @@ 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);
 
+    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));
+
+
     // Make all the zenoh subs.
     for (const auto & source : zenohSourceNames)
     {

src/bin/get_default_config.cpp

@@ -0,0 +1,20 @@
+//
+// 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 "zenoh.hxx"
+
+
+int main(int, char **)
+{
+    const auto config = zenoh::Config::create_default();
+    const auto configJson = config.to_string();
+    std::cout << configJson << std::endl;
+}