diff --git a/include/ur_modern_driver/log.h b/include/ur_modern_driver/log.h
new file mode 100644
index 0000000..0d96b88
--- /dev/null
+++ b/include/ur_modern_driver/log.h
@@ -0,0 +1,21 @@
+#pragma once
+#include <inttypes.h>
+
+#ifdef ROS_BUILD
+    #include <ros/ros.h>
+
+    #define LOG_DEBUG ROS_DEBUG
+    #define LOG_WARN  ROS_WARN
+    #define LOG_INFO  ROS_INFO
+    #define LOG_ERROR ROS_ERROR
+    #define LOG_FATAL ROS_FATAL
+
+#else
+
+    #define LOG_DEBUG(format, ...) printf("DEBUG: " format, ##__VA_ARGS__)
+    #define LOG_WARN(format, ...) printf("WARNING: " format, ##__VA_ARGS__)
+    #define LOG_INFO(format, ...) printf("INFO: " format, ##__VA_ARGS__)
+    #define LOG_ERROR(format, ...) printf("ERROR: " format, ##__VA_ARGS__)
+    #define LOG_FATAL(format, ...) printf("FATAL: " format, ##__VA_ARGS__)
+
+#endif
\ No newline at end of file