diff --git a/include/ur_rtde_driver/bin_parser.h b/include/ur_rtde_driver/comm/bin_parser.h
similarity index 99%
rename from include/ur_rtde_driver/bin_parser.h
rename to include/ur_rtde_driver/comm/bin_parser.h
index 816be8f..16c6002 100644
--- a/include/ur_rtde_driver/bin_parser.h
+++ b/include/ur_rtde_driver/comm/bin_parser.h
@@ -31,6 +31,8 @@
 
 namespace ur_driver
 {
+namespace comm
+{
 class BinParser
 {
 private:
@@ -203,4 +205,6 @@ public:
     LOG_DEBUG("BinParser: %p - %p (%zu bytes)", buf_pos_, buf_end_, buf_end_ - buf_pos_);
   }
 };
+
+}  // namespace comm
 }  // namespace ur_driver
diff --git a/include/ur_rtde_driver/comm/package.h b/include/ur_rtde_driver/comm/package.h
index e73ba4c..1486424 100644
--- a/include/ur_rtde_driver/comm/package.h
+++ b/include/ur_rtde_driver/comm/package.h
@@ -27,6 +27,8 @@
 #ifndef UR_RTDE_DRIVER_PACKAGE_H_INCLUDED
 #define UR_RTDE_DRIVER_PACKAGE_H_INCLUDED
 
+#include "ur_rtde_driver/comm/bin_parser.h"
+
 namespace ur_driver
 {
 namespace comm
@@ -40,6 +42,8 @@ public:
 
   using _header_type = HeaderT;
 
+  virtual bool parseWith(BinParser& bp) = 0;
+
 private:
   HeaderT header_;
 };