== C++ ROS Wrapper ==
A C++ ROS Wrapper is a design pattern used in much of the [[navigation]] stack that uses one C++ class to expose a ROS interface for an underlying, or wrapped, piece of code. Each ROS Wrapper is instantiated inside of a ROS [[Nodes | Node]], reads its configuration from the [[Parameter Server]], and often publishes/subscribes to information on [[Topics]] using a namespace passed to them on construction. Any number of ROS Wrappers may be instantiated within a single ROS [[Nodes | Node]] and can be linked together via both their ROS interfaces and their C++ APIs.