Add the zenoh router to the common nodes if needed

clearpath_generator_gz/clearpath_generator_gz/launch/generator.py

@@ -73,6 +73,18 @@ def __init__(self, setup_path: str = '/etc/clearpath/') -> None:
             'platform/cmd_vel'
           )
 
+        # Zenoh Router, only needed if RMW implementation is rmw_zenoh_cpp
+        print(self.clearpath_config.system.middleware.rmw_implementation)
+        if self.clearpath_config.system.middleware.rmw_implementation == RMWImplementation.ZENOH_DDS:
+            self.zenoh_router_node = LaunchFile.Node(
+                package='rmw_zenoh_cpp',
+                executable='rmw_zenohd',
+                name='rmw_zenohd',
+                namespace=self.namespace,
+            )
+        else:
+            self.zenoh_router_node = None
+
         self.cmd_vel_node = LaunchFile.Node(
             package='ros_gz_bridge',
             executable='parameter_bridge',
@@ -154,6 +166,8 @@ def __init__(self, setup_path: str = '/etc/clearpath/') -> None:
             self.cmd_vel_node,
             self.odom_base_node
         ]
+        if self.zenoh_router_node is not None:
+            self.common_platform_components.append(self.zenoh_router_node)
 
         # Components required for each platform
         self.platform_components = {