How to interface ROS in Jetson TX2 to communicate with LIDAR?

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I want to retrieve data from the LIDAR SF 11/C Lightware module. It worked in Jetson but only in command window now I want to interface it into ROS. The language used is C++. There is no specific ROS Topic for SF 11/C. Kindly give me brief explanation in simple words as I am new to ROS enviroment. . If I need to make packages how will I communicate with it. Secondly I have the main.cpp code which worked in terminal but I do not know how to work with it in ROS. SF 11/C is used to measure distance in Drones.Ubuntu version 18.04 is used