Brush all vegetables lightly with olive oil, and sprinkle with salt and pepper.
First, place corn on the grill. Grill for about 15 minutes, turning occasionally, until done.
Next, place peppers, onion, and zucchini on the grill. Grill for about 6 minutes total, flipping halfway through.
Next, place the Eckrich sausage directly over high heat. Grill for about 2 minutes per side, until charred and sizzling.
Finally, grill the bread on the outer edges of the grill where there is less direct heat. Each side of bread will need 30 seconds to 1 minute of grilling. Be careful not to burn.
Slice grilled sausage into bite sized pieces.
Arrange grilled sausage, vegetables, and bread on a platter with tongs for serving. Place whole grain mustard and sauerkraut in small bowls, with spoons for serving.