Merge branch 'merge/update' into 'main'

.gitignore

CMakeLists.txt

README.md

config/config.yaml

config/config_pick_place_scene.json

config/config_scene.yaml

config_full.yaml

include/ccf/util/NodeUtil.h

src/ccf/controller/MoveItRobotArmController.cpp

src/ccf/controller/RobotArmController.cpp

src/ccf/util/scene_controller_node.cpp

src/dummy_cgv_controller.cpp

src/dummy_rag_controller_a.cpp

src/dummy_rag_controller_b.cpp

src/moveit_cgv_controller.cpp

test/test_NodeUtil.cpp

test/test_NodeUtil.test