Prohibited Yard Parking Ordinance and a RV

Hey everyone, my in-laws will be coming visit in a month or so, and they will be driving all the way from California in their RV. Ideally, we would like them to be able to park it outside the house, on the street. We live in a townhouse in EaDo so we don't have a proper driveway for them. I found out about the Prohibited Yard Parking Ordinance, and I'm so confused about how this affect it. Does it say their tiny RV can't be parked in front of our yard if our HOA applied to it? Is anyone familiar with it?

I've seen trucks parked on the street on the back where a warehouse is located, so I know they can park there for sure! Worse case scenario I guess they can leave their RV on an RV park.

Edit: we had decided to just ask them to leave it at the RV park and get them to stay in our bedroom while we stay in the living room. Thanks everyone who replied with information