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 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 Node and can be linked together via both their ROS interfaces and their C++ APIs.
