Added executable for plain driver

include/ur_rtde_driver/ur/ur_driver.h

@@ -0,0 +1,42 @@
+// this is for emacs file handling -*- mode: c++; indent-tabs-mode: nil -*-
+
+// -- BEGIN LICENSE BLOCK ----------------------------------------------
+// Copyright 2019 FZI Forschungszentrum Informatik
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+// -- END LICENSE BLOCK ------------------------------------------------
+
+//----------------------------------------------------------------------
+/*!\file
+ *
+ * \author  Felix Mauch mauch@fzi.de
+ * \date    2019-04-11
+ *
+ */
+//----------------------------------------------------------------------
+
+
+#include "ur_rtde_driver/rtde/rtde_client.h"
+
+namespace ur_driver{
+  class UrDriver
+  {
+  public:
+    UrDriver (const std::string& ROBOT_IP);
+    virtual ~UrDriver () = default;
+  
+  private:
+    comm::INotifier notifier_;
+    std::unique_ptr<rtde_interface::RTDEClient> rtde_client_;
+  };
+}