Here are the classes, structs, unions and interfaces with brief descriptions:

[detail level 1234]

▼Nr2sonic
▼Nconversions
CAid02RawAiAssembler
▼Npackets
CAID0	An interpreter class that represents the Acoustic Image (AID) packet
CBTH0	An interpreter class that represents the Bathmetry Data (BHT0) packet
CCmdPacket	A class that corresponds to an r2sonic command
CPacket	The DataFormat class is a common base class for the R2Sonic up/downlink data formats as definned in the R2Sonic data formats pdf
▼Nprimitives
CBigEndianPrimative	The BigEndianPrimative struct represents a big endian version of various primitives. Also includes overloaded casting operators so it can be assigned to standard primatives with minimal extra syntax
▼Nsections
▼CA0	An interpreter for Section A0: bathy point angles, equally-spaced (present only during "equi-angle" spacing mode)
CBody	A datatype represnting the fixed length portion of the A0 message
CA1	An interpreter for Section A1: float beam angles, arbitrarily-spaced
▼CA2	An interpreter for Section A2: 16-bit bathy point angles, arbitrarily-spaced (present only during "equi-distant" spacing mode)
CBody	A datatype represnting the fixed length portion of the A2 message
▼CG0	Simple straight-line depth gates
CBody	A datatype represnting the fixed length portion of the G0 message
▼CG1	Simple straight-line depth gates
CGate	A structure representing the 2 byte gate information
▼CH0	An interpreter for the "H0" Section which describes general ping information
CBody	A datatype represnting the fixed length portion of the H0 message
CI1	An interpreter for Section I1: 16-bit bathy intensity (present only if enabled)
▼CM0	An interpreter for Section M0: 8-bit magnitude data (many per ping, you assemble them into complete ping data)
CBody	A datatype represnting the fixed length portion of the M0 message
CMiniHeader	A datatype representing the MiniHeader common to all Packets
CQ0	Section Q0: 4-bit quality flags
CR0	An interpreter for Section R0: 16-bit bathy point ranges
CSection	Common base class for all r2 sonic message section definitions
CSectionInfo	A structure representing the info common to all sections
CDatatypeReceiver
▼CR2SonicNode	The rclcpp::Node representing the connection between ROS and the R2Sonic Unit
CMsgBuffer	Container for the messages we want to buffer
CmsgMtx_	Colleciton of rosmessageg publisher and a mutex grouped for convienence
▼CParameters	Structure that corresponds to the parameters advertised by the R2SonicNode class. All params assoicated with this struct will have the same structure struct. Example: topics.detections member mapps to param "topics/detections"
CPorts
CTopics
CUdpReceiver