From 5e14e66c66ebd87455de8be8dcb94fe74ca17f0d Mon Sep 17 00:00:00 2001
From: carter <carterjschultz@gmail.com>
Date: Sat, 19 Sep 2026 13:09:53 -0600
Subject: [PATCH] Make users not need to specify a zenoh dependency

---
 CHANGELOG.md                | 5 +++++
 Cargo.lock                  | 1 -
 README.md                   | 6 +++++-
 roslibrust/Cargo.toml       | 2 --
 roslibrust_zenoh/src/lib.rs | 8 ++++++--
 5 files changed, 16 insertions(+), 6 deletions(-)

diff --git a/CHANGELOG.md b/CHANGELOG.md
index 0308138f..6385499f 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -7,6 +7,11 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 
 ## Unreleased
 
+### Added
+
+- `roslibrust::zenoh` now re-exports `open`, `Config`, and `Session`, allowing users to construct a
+  `ZenohClient` without depending directly on the `zenoh` crate.
+
 ## 0.25.0 - September 19th, 2026
 
 ### Added
diff --git a/Cargo.lock b/Cargo.lock
index 3613645a..f8f481f6 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -3489,7 +3489,6 @@ dependencies = [
  "test-log",
  "tokio",
  "tokio-stream",
- "zenoh",
 ]
 
 [[package]]
diff --git a/README.md b/README.md
index 6a12acb8..aaacc1e2 100644
--- a/README.md
+++ b/README.md
@@ -54,7 +54,11 @@ async fn main() -> Result<(), Box<dyn std::error::Error + Send + Sync>> {
     // Relay messages over a zenoh connection compatible with zenoh-ros1-plugin / zenoh-ros1-bridge
     #[cfg(feature = "zenoh")]
     {
-    let ros = roslibrust::zenoh::ZenohClient::new(zenoh::open(zenoh::Config::default()).await.unwrap());
+    let ros = roslibrust::zenoh::ZenohClient::new(
+        roslibrust::zenoh::open(roslibrust::zenoh::Config::default())
+            .await
+            .unwrap(),
+    );
     relay(ros).await?;
     }
 
diff --git a/roslibrust/Cargo.toml b/roslibrust/Cargo.toml
index 34e4edf0..bad63f10 100644
--- a/roslibrust/Cargo.toml
+++ b/roslibrust/Cargo.toml
@@ -34,8 +34,6 @@ roslibrust_codegen = { path = "../roslibrust_codegen" }
 roslibrust_codegen_macro = { path = "../roslibrust_codegen_macro" }
 # Slightly weird, but used in documentation examples
 roslibrust_test = { path = "../roslibrust_test" }
-# Slightly weird, but used in documentation examples
-zenoh = "1.7"
 # Provides test timeout
 ntest = "0.9"
 
diff --git a/roslibrust_zenoh/src/lib.rs b/roslibrust_zenoh/src/lib.rs
index 8a94fa45..73826aeb 100644
--- a/roslibrust_zenoh/src/lib.rs
+++ b/roslibrust_zenoh/src/lib.rs
@@ -16,6 +16,10 @@ use std::{
 use tokio::sync::RwLock;
 use zenoh::bytes::ZBytes;
 
+// Re-export the parts of Zenoh's session API needed to construct a `ZenohClient`, so users of
+// `roslibrust::zenoh` do not also need a direct dependency on the `zenoh` crate.
+pub use zenoh::{open, Config, Session};
+
 /// Serialize a runtime-selected message as the ROS1 message body carried by the Zenoh ROS1
 /// bridge.
 pub fn serialize_dynamic_message(message: &DynamicMessage) -> DynamicMessageResult<Vec<u8>> {
@@ -49,13 +53,13 @@ const DISCOVERY_LOST_AFTER: Duration = Duration::from_secs(3);
 #[derive(Clone)]
 pub struct ZenohClient {
     _discovery_monitor: Arc<DiscoveryMonitor>,
-    session: zenoh::Session,
+    session: Session,
     graph: Arc<RwLock<BTreeMap<String, DiscoveryFact>>>,
 }
 
 impl ZenohClient {
     /// Creates a new client wrapped around a Zenoh session
-    pub fn new(session: zenoh::Session) -> Self {
+    pub fn new(session: Session) -> Self {
         let graph = Arc::new(RwLock::new(BTreeMap::new()));
         let discovery_monitor = Arc::new(spawn_discovery_monitor(session.clone(), graph.clone()));
         Self {