Implemented abstract pipeline design

src/pipeline.cpp

@@ -0,0 +1,23 @@
+#include "ur_modern_driver/queue/readerwriterqueue.h"
+
+using namespace moodycamel; 
+using namespace std;
+
+class UR2ROSRelay {
+private:
+    URReciever reciever;
+    URParser parser;
+
+    BlockingReaderWriterQueue<unique_ptr<URMessage>> queue;
+
+    ROSConverter converter;
+    ROSPublisher publisher;
+
+
+public:
+    UR2ROSRelay(string &host, int port) : reciever{host, port} { }
+
+    void run() {
+
+    }
+};