Added zenoh router to launch file

launch/scenario_basic_subscription_benchmark.launch.py

@@ -1,6 +1,11 @@
 import os
 from launch import LaunchDescription
-from launch.substitutions import LaunchConfiguration
+from launch.substitutions import (
+    LaunchConfiguration,
+    EnvironmentVariable,
+    EqualsSubstitution,
+)
+from launch.conditions import IfCondition
 from ament_index_python.packages import get_package_share_directory
 from launch.actions import (
     DeclareLaunchArgument,
@@ -45,6 +50,19 @@ def launch_setup(context, *args, **kwargs):
         ],
     )
 
+    zenoh_router = Node(
+        name="zenoh_router",
+        package="rmw_zenoh_cpp",
+        executable="rmw_zenohd",
+        output="both",
+        condition=IfCondition(
+            EqualsSubstitution(
+                EnvironmentVariable("RMW_IMPLEMENTATION", default_value=""),
+                "rmw_zenoh_cpp",
+            ),
+        ),
+    )
+
     benchmark_main_node = Node(
         name="benchmark_main",
         package="moveit_middleware_benchmark",
@@ -59,7 +77,7 @@ def launch_setup(context, *args, **kwargs):
         on_exit=Shutdown(),
     )
 
-    return [topic_publisher, benchmark_main_node]
+    return [zenoh_router, topic_publisher, benchmark_main_node]
 
 
 def generate_launch_description():