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First, prepare the dressing for the fish. Add the mustard, lime juice, and oil to a small bowl, season with salt the peppercorns, and mix well. Set aside.
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Oil the grill, place the fish, zucchini, pepper, and onion, coat all with mustard-lime juice sauce, season with salt and pepper, and grill for about 15 minutes.
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Brush the fish and the veggies again with the sauce, using the rosemary as a brush, turn them over, coat with sauce a third time, and grill for 15 minutes more.
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Serve the fish and veggies garnished with lime, tiny tomatoes, and chopped basil leaves.