diff --git a/ur_rtde_driver/include/ur_rtde_driver/rtde/rtde_client.h b/ur_rtde_driver/include/ur_rtde_driver/rtde/rtde_client.h
index 6b417fa..99a699a 100644
--- a/ur_rtde_driver/include/ur_rtde_driver/rtde/rtde_client.h
+++ b/ur_rtde_driver/include/ur_rtde_driver/rtde/rtde_client.h
@@ -84,12 +84,11 @@ public:
   /*!
    * \brief Reads the pipeline to fetch the next data package.
    *
-   * \param data_package Pointer to set to the next data package
    * \param timeout Time to wait if no data package is currently in the queue
    *
-   * \returns True, if a package was fetched successfully
+   * \returns Unique ptr to the package, if a package was fetched successfully, nullptr otherwise
    */
-  bool getDataPackage(std::unique_ptr<comm::URPackage<PackageHeader>>& data_package, std::chrono::milliseconds timeout);
+  std::unique_ptr<rtde_interface::DataPackage> getDataPackage(std::chrono::milliseconds timeout);
 
   /*!
    * \brief Getter for the frequency the robot will publish RTDE data packages with.
diff --git a/ur_rtde_driver/include/ur_rtde_driver/ur/ur_driver.h b/ur_rtde_driver/include/ur_rtde_driver/ur/ur_driver.h
index 90b6c8f..be2f7b0 100644
--- a/ur_rtde_driver/include/ur_rtde_driver/ur/ur_driver.h
+++ b/ur_rtde_driver/include/ur_rtde_driver/ur/ur_driver.h
@@ -85,8 +85,8 @@ public:
    * \brief Access function to receive the latest data package sent from the robot through RTDE
    * interface.
    *
-   * \returns The latest data package on success, a nullptr if no package can be found inside the
-   * interface's cycle time. See the private parameter #rtde_frequency_
+   * \returns The latest data package on success, a nullptr if no package can be found inside a preconfigured time
+   * window.
    */
   std::unique_ptr<rtde_interface::DataPackage> getDataPackage();
 
diff --git a/ur_rtde_driver/src/rtde/rtde_client.cpp b/ur_rtde_driver/src/rtde/rtde_client.cpp
index b533497..7a2340a 100644
--- a/ur_rtde_driver/src/rtde/rtde_client.cpp
+++ b/ur_rtde_driver/src/rtde/rtde_client.cpp
@@ -146,10 +146,19 @@ std::vector<std::string> RTDEClient::readRecipe(const std::string& recipe_file)
   return recipe;
 }
 
-bool RTDEClient::getDataPackage(std::unique_ptr<comm::URPackage<PackageHeader>>& data_package,
-                                std::chrono::milliseconds timeout)
+std::unique_ptr<rtde_interface::DataPackage> RTDEClient::getDataPackage(std::chrono::milliseconds timeout)
 {
-  return pipeline_.getLatestProduct(data_package, timeout);
+  std::unique_ptr<comm::URPackage<rtde_interface::PackageHeader>> urpackage;
+  if (pipeline_.getLatestProduct(urpackage, timeout))
+  {
+    rtde_interface::DataPackage* tmp = dynamic_cast<rtde_interface::DataPackage*>(urpackage.get());
+    if (tmp != nullptr)
+    {
+      urpackage.release();
+      return std::unique_ptr<rtde_interface::DataPackage>(tmp);
+    }
+  }
+  return std::unique_ptr<rtde_interface::DataPackage>(nullptr);
 }
 
 std::string RTDEClient::getIP() const
diff --git a/ur_rtde_driver/src/ur/ur_driver.cpp b/ur_rtde_driver/src/ur/ur_driver.cpp
index 1774f4f..9923227 100644
--- a/ur_rtde_driver/src/ur/ur_driver.cpp
+++ b/ur_rtde_driver/src/ur/ur_driver.cpp
@@ -126,20 +126,9 @@ ur_driver::UrDriver::UrDriver(const std::string& robot_ip, const std::string& sc
 
 std::unique_ptr<rtde_interface::DataPackage> ur_driver::UrDriver::getDataPackage()
 {
-  // TODO: This goes into the rtde_client
-  std::unique_ptr<comm::URPackage<rtde_interface::PackageHeader>> urpackage;
   std::chrono::milliseconds timeout(100);  // We deliberately have a quite large timeout here, as the robot itself
                                            // should command the control loop's timing.
-  if (rtde_client_->getDataPackage(urpackage, timeout))
-  {
-    rtde_interface::DataPackage* tmp = dynamic_cast<rtde_interface::DataPackage*>(urpackage.get());
-    if (tmp != nullptr)
-    {
-      urpackage.release();
-      return std::unique_ptr<rtde_interface::DataPackage>(tmp);
-    }
-  }
-  return nullptr;
+  return rtde_client_->getDataPackage(timeout);
 }
 
 bool UrDriver::writeJointCommand(const vector6d_t& values)