diff --git a/CMakeLists.txt b/CMakeLists.txt
index 6a92160483a7ba243d78962214ca7cd8fcc5bbf7..2fe33e6ab3f4a73d8d815b8d166b3995a072188b 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -163,11 +163,12 @@ add_subdirectory(lib/paho.mqtt.cpp)
 add_dependencies(paho-mqttpp3 paho-mqtt3a)
 
 ## Declare a C++ library
-# add_library(${PROJECT_NAME}
-#   src/${PROJECT_NAME}/cgv_connector.cpp
-# )
-add_library(${PROJECT_NAME}_scene_constructor_util ${PROTO_SRCS} ${PROTO_HDRS} src/scene_constructor_util.cpp)
-add_library(scene_collision_object src/scene_collision_object.cpp)
+add_library(${PROJECT_NAME}_dummy_controller ${PROTO_SRCS} ${PROTO_HDRS} src/ccf/controller/DummyRobotArmController.cpp src/ccf/controller/RobotArmController.cpp src/ccf/controller/Controller.cpp)
+add_library(${PROJECT_NAME}_moveit_controller ${PROTO_SRCS} ${PROTO_HDRS} src/ccf/controller/MoveItRobotArmController.cpp src/ccf/controller/RobotArmController.cpp src/ccf/controller/Controller.cpp)
+add_library(${PROJECT_NAME}_nng_connection ${PROTO_SRCS} ${PROTO_HDRS} src/ccf/connection/NngConnection.cpp)
+add_library(${PROJECT_NAME}_mqtt_connection ${PROTO_SRCS} ${PROTO_HDRS} src/ccf/connection/MqttConnection.cpp)
+add_library(${PROJECT_NAME}_scene_constructor_util ${PROTO_SRCS} ${PROTO_HDRS} src/ccf/util/scene_constructor_util.cpp)
+add_library(${PROJECT_NAME}_scene_collision_object src/ccf/util/scene_collision_object.cpp)
 
 ## Add cmake target dependencies of the library
 ## as an example, code may need to be generated before libraries
@@ -177,13 +178,13 @@ add_library(scene_collision_object src/scene_collision_object.cpp)
 ## Declare a C++ executable
 ## With catkin_make all packages are built within a single CMake context
 ## The recommended prefix ensures that target names across packages don't collide
-add_executable(${PROJECT_NAME}_dummy_cgv src/dummy_cgv.cpp ${PROTO_SRCS} ${PROTO_HDRS})
-add_executable(${PROJECT_NAME}_dummy_pick_place src/dummy_pick_place.cpp ${PROTO_SRCS} ${PROTO_HDRS})
-add_executable(${PROJECT_NAME}_dummy_cgv_connector src/dummy_cgv_connector.cpp ${PROTO_SRCS} ${PROTO_HDRS} src/DummyRobotArmController.cpp src/RobotArmController.cpp src/Controller.cpp src/NngConnection.cpp )
-add_executable(${PROJECT_NAME}_dummy_rag_connector src/dummy_rag_connector.cpp ${PROTO_SRCS} ${PROTO_HDRS} src/DummyRobotArmController.cpp src/RobotArmController.cpp src/Controller.cpp src/NngConnection.cpp src/MqttConnection.cpp)
-add_executable(${PROJECT_NAME}_dummy_rbg_connector src/dummy_rbg_connector.cpp ${PROTO_SRCS} ${PROTO_HDRS} src/DummyRobotArmController.cpp src/RobotArmController.cpp src/Controller.cpp src/NngConnection.cpp src/MqttConnection.cpp)
-add_executable(${PROJECT_NAME}_moveit_cgv_connector src/moveit_cgv_connector.cpp src/MoveItRobotArmController.cpp src/RobotArmController.cpp src/Controller.cpp ${PROTO_SRCS} ${PROTO_HDRS}  src/NngConnection.cpp src/MqttConnection.cpp)
-add_executable(scene_controller src/scene_controller_node.cpp ${PROTO_SRCS} ${PROTO_HDRS})
+add_executable(${PROJECT_NAME}_dummy_cgv src/dummies/dummy_cgv.cpp ${PROTO_SRCS} ${PROTO_HDRS})
+add_executable(${PROJECT_NAME}_dummy_pick_place src/dummies/dummy_pick_place.cpp ${PROTO_SRCS} ${PROTO_HDRS})
+add_executable(${PROJECT_NAME}_dummy_cgv_controller src/dummy_cgv_controller.cpp ${PROTO_SRCS} ${PROTO_HDRS} )
+add_executable(${PROJECT_NAME}_dummy_rag_controller_a src/dummy_rag_controller_a.cpp ${PROTO_SRCS} ${PROTO_HDRS} )
+add_executable(${PROJECT_NAME}_dummy_rag_controller_b src/dummy_rag_controller_b.cpp ${PROTO_SRCS} ${PROTO_HDRS} )
+add_executable(${PROJECT_NAME}_moveit_cgv_controller src/moveit_cgv_controller.cpp ${PROTO_SRCS} ${PROTO_HDRS})
+add_executable(${PROJECT_NAME}_scene_controller src/ccf/util/scene_controller_node.cpp ${PROTO_SRCS} ${PROTO_HDRS})
 
 ## Rename C++ executable without prefix
 ## The above recommended prefix causes long target names, the following renames the
@@ -191,16 +192,34 @@ add_executable(scene_controller src/scene_controller_node.cpp ${PROTO_SRCS} ${PR
 ## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
 set_target_properties(${PROJECT_NAME}_dummy_cgv PROPERTIES OUTPUT_NAME dummy_cgv PREFIX "")
 set_target_properties(${PROJECT_NAME}_dummy_pick_place PROPERTIES OUTPUT_NAME dummy_pick_place PREFIX "")
-set_target_properties(${PROJECT_NAME}_dummy_cgv_connector PROPERTIES OUTPUT_NAME dummy_cgv_connector PREFIX "")
-set_target_properties(${PROJECT_NAME}_dummy_rag_connector PROPERTIES OUTPUT_NAME dummy_rag_connector PREFIX "")
-set_target_properties(${PROJECT_NAME}_dummy_rbg_connector PROPERTIES OUTPUT_NAME dummy_rbg_connector PREFIX "")
-set_target_properties(${PROJECT_NAME}_moveit_cgv_connector PROPERTIES OUTPUT_NAME moveit_cgv_connector PREFIX "")
+set_target_properties(${PROJECT_NAME}_dummy_cgv_controller PROPERTIES OUTPUT_NAME dummy_cgv_controller PREFIX "")
+set_target_properties(${PROJECT_NAME}_dummy_rag_controller_a PROPERTIES OUTPUT_NAME dummy_rag_controller_a PREFIX "")
+set_target_properties(${PROJECT_NAME}_dummy_rag_controller_b PROPERTIES OUTPUT_NAME dummy_rag_controller_b PREFIX "")
+set_target_properties(${PROJECT_NAME}_moveit_cgv_controller PROPERTIES OUTPUT_NAME moveit_cgv_controller PREFIX "")
+set_target_properties(${PROJECT_NAME}_scene_controller PROPERTIES OUTPUT_NAME scene_controller PREFIX "")
 
 ## Add cmake target dependencies of the executable
 ## same as for the library above
 # add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
 
 ## Specify libraries to link a library or executable target against
+
+target_link_libraries(${PROJECT_NAME}_nng_connection
+        ${catkin_LIBRARIES}
+        nng
+        )
+target_link_libraries(${PROJECT_NAME}_mqtt_connection
+        ${catkin_LIBRARIES}
+        paho-mqttpp3
+        )
+target_link_libraries(${PROJECT_NAME}_dummy_controller
+        ${catkin_LIBRARIES}
+        ${Protobuf_LIBRARIES}
+        )
+target_link_libraries(${PROJECT_NAME}_moveit_controller
+        ${catkin_LIBRARIES}
+        ${Protobuf_LIBRARIES}
+        )
 target_link_libraries(${PROJECT_NAME}_dummy_cgv
         ${catkin_LIBRARIES}
         nng
@@ -211,45 +230,44 @@ target_link_libraries(${PROJECT_NAME}_dummy_pick_place
         nng
         ${Protobuf_LIBRARIES}
         )
-target_link_libraries(${PROJECT_NAME}_dummy_cgv_connector
+target_link_libraries(${PROJECT_NAME}_dummy_cgv_controller
         ${catkin_LIBRARIES}
-        nng
-        paho-mqttpp3
         ${Protobuf_LIBRARIES}
+        ${PROJECT_NAME}_dummy_controller
+        ${PROJECT_NAME}_nng_connection
         )
-target_link_libraries(${PROJECT_NAME}_dummy_rag_connector
+target_link_libraries(${PROJECT_NAME}_dummy_rag_controller_a
         ${catkin_LIBRARIES}
-        nng
-        paho-mqttpp3
         ${Protobuf_LIBRARIES}
+        ${PROJECT_NAME}_dummy_controller
+        ${PROJECT_NAME}_nng_connection
+        ${PROJECT_NAME}_mqtt_connection
         )
-target_link_libraries(${PROJECT_NAME}_dummy_rbg_connector
+target_link_libraries(${PROJECT_NAME}_dummy_rag_controller_b
         ${catkin_LIBRARIES}
-        nng
-        paho-mqttpp3
         ${Protobuf_LIBRARIES}
+        ${PROJECT_NAME}_dummy_controller
+        ${PROJECT_NAME}_mqtt_connection
         )
-target_link_libraries(${PROJECT_NAME}_moveit_cgv_connector
+target_link_libraries(${PROJECT_NAME}_moveit_cgv_controller
         ${catkin_LIBRARIES}
-        nng
-        paho-mqttpp3
         ${Protobuf_LIBRARIES}
+        ${PROJECT_NAME}_moveit_controller
+        ${PROJECT_NAME}_nng_connection
         )
-target_link_libraries(scene_collision_object
+target_link_libraries(${PROJECT_NAME}_scene_collision_object
         ${catkin_LIBRARIES}
         )
 target_link_libraries(${PROJECT_NAME}_scene_constructor_util
         ${catkin_LIBRARIES}
         ${Protobuf_LIBRARIES}
-        scene_collision_object
+        ${PROJECT_NAME}_scene_collision_object
         )
-target_link_libraries(scene_controller
+target_link_libraries(${PROJECT_NAME}_scene_controller
         ${catkin_LIBRARIES}
-        nng
-        paho-mqttpp3
         ${Protobuf_LIBRARIES}
         ${PROJECT_NAME}_scene_constructor_util
-        scene_collision_object
+        ${PROJECT_NAME}_scene_collision_object
         )
 
 #############
diff --git a/include/Connection.h b/include/ccf/connection/Connection.h
similarity index 100%
rename from include/Connection.h
rename to include/ccf/connection/Connection.h
diff --git a/include/MqttConnection.h b/include/ccf/connection/MqttConnection.h
similarity index 100%
rename from include/MqttConnection.h
rename to include/ccf/connection/MqttConnection.h
diff --git a/include/NngConnection.h b/include/ccf/connection/NngConnection.h
similarity index 100%
rename from include/NngConnection.h
rename to include/ccf/connection/NngConnection.h
diff --git a/include/Controller.h b/include/ccf/controller/Controller.h
similarity index 94%
rename from include/Controller.h
rename to include/ccf/controller/Controller.h
index ddf483a59208103e389977c4058a8b5bf142c031..2e5ad4b56fd8fddee27ffe8ff256d990004aa265 100644
--- a/include/Controller.h
+++ b/include/ccf/controller/Controller.h
@@ -10,7 +10,7 @@
 
 #include <ros/ros.h>
 
-#include "Connection.h"
+#include "ccf/connection/Connection.h"
 
 #include <connector.pb.h>
 
diff --git a/include/DummyRobotArmController.h b/include/ccf/controller/DummyRobotArmController.h
similarity index 100%
rename from include/DummyRobotArmController.h
rename to include/ccf/controller/DummyRobotArmController.h
diff --git a/include/MoveItRobotArmController.h b/include/ccf/controller/MoveItRobotArmController.h
similarity index 100%
rename from include/MoveItRobotArmController.h
rename to include/ccf/controller/MoveItRobotArmController.h
diff --git a/include/RobotArmController.h b/include/ccf/controller/RobotArmController.h
similarity index 98%
rename from include/RobotArmController.h
rename to include/ccf/controller/RobotArmController.h
index 144294608b6853b42341e58b8f2e9b8bad2e92cb..1e2774b8df802f98bc121c7e0fa1a899d34b0593 100644
--- a/include/RobotArmController.h
+++ b/include/ccf/controller/RobotArmController.h
@@ -10,7 +10,7 @@
 
 #include <ros/ros.h>
 
-#include "Connection.h"
+#include "ccf/connection/Connection.h"
 #include "Controller.h"
 
 #include <connector.pb.h>
diff --git a/include/NodeUtil.h b/include/ccf/util/NodeUtil.h
similarity index 100%
rename from include/NodeUtil.h
rename to include/ccf/util/NodeUtil.h
diff --git a/include/scene_collision_object.h b/include/ccf/util/scene_collision_object.h
similarity index 100%
rename from include/scene_collision_object.h
rename to include/ccf/util/scene_collision_object.h
diff --git a/include/scene_constructor_util.h b/include/ccf/util/scene_constructor_util.h
similarity index 100%
rename from include/scene_constructor_util.h
rename to include/ccf/util/scene_constructor_util.h
diff --git a/src/MqttConnection.cpp b/src/ccf/connection/MqttConnection.cpp
similarity index 99%
rename from src/MqttConnection.cpp
rename to src/ccf/connection/MqttConnection.cpp
index 7c174e889b35311fad47a1aa772e515163700cfc..8d082aafd1750510df3ee6e03b68a6115ca3da79 100644
--- a/src/MqttConnection.cpp
+++ b/src/ccf/connection/MqttConnection.cpp
@@ -2,7 +2,7 @@
 // Created by sebastian on 04.05.21.
 //
 
-#include "MqttConnection.h"
+#include "ccf/connection/MqttConnection.h"
 #include <ros/ros.h>
 #include <memory>
 
diff --git a/src/NngConnection.cpp b/src/ccf/connection/NngConnection.cpp
similarity index 98%
rename from src/NngConnection.cpp
rename to src/ccf/connection/NngConnection.cpp
index e4bc1d514b4fa81ca7ebf4596c78e199d1ba4e56..a1cab0490e12fc3c81a8280b6d86c44813af4627 100644
--- a/src/NngConnection.cpp
+++ b/src/ccf/connection/NngConnection.cpp
@@ -8,7 +8,7 @@
 #include <memory>
 #include <thread>
 
-#include "NngConnection.h"
+#include "ccf/connection/NngConnection.h"
 
 void NngConnection::receiveMessages() {
 
diff --git a/src/Controller.cpp b/src/ccf/controller/Controller.cpp
similarity index 94%
rename from src/Controller.cpp
rename to src/ccf/controller/Controller.cpp
index bb2d7df483d0c16db1158bfacfb77a113d5f31a4..910ea46e58782fa4c974bda596dbd412e2d2255c 100644
--- a/src/Controller.cpp
+++ b/src/ccf/controller/Controller.cpp
@@ -5,7 +5,7 @@
 #include <fstream>
 #include <memory>
 
-#include "Controller.h"
+#include "ccf/controller/Controller.h"
 
 void Controller::addConnection(std::unique_ptr<Connection> &&connection) {
     connection->initializeConnection([this](auto &&channel, auto &&data) {
diff --git a/src/DummyRobotArmController.cpp b/src/ccf/controller/DummyRobotArmController.cpp
similarity index 95%
rename from src/DummyRobotArmController.cpp
rename to src/ccf/controller/DummyRobotArmController.cpp
index 246dfd9dec8c3d17c2f72eef9f24042e883d6a7f..ea1fbfe48f1a002d599b5c3a6d901dddfdb7a499 100644
--- a/src/DummyRobotArmController.cpp
+++ b/src/ccf/controller/DummyRobotArmController.cpp
@@ -5,8 +5,8 @@
 #include <ros/ros.h>
 #include <cmath>
 
-#include "DummyRobotArmController.h"
-#include "Controller.h"
+#include "ccf/controller/DummyRobotArmController.h"
+#include "ccf/controller/Controller.h"
 
 
 bool DummyRobotArmController::pickAndDrop(Object &robot, Object &object, Object &bin, bool simulateOnly) {
diff --git a/src/MoveItRobotArmController.cpp b/src/ccf/controller/MoveItRobotArmController.cpp
similarity index 98%
rename from src/MoveItRobotArmController.cpp
rename to src/ccf/controller/MoveItRobotArmController.cpp
index c3fda6ae6277bd36f64a2fc1c90a3d6f3cee6034..0c6e4cccf0ede5559f9838388c78dabb657b90f8 100644
--- a/src/MoveItRobotArmController.cpp
+++ b/src/ccf/controller/MoveItRobotArmController.cpp
@@ -8,14 +8,14 @@
 
 #include <ros/ros.h>
 
-#include <scene_constructor_util.h>
+#include <ccf/util/scene_constructor_util.h>
 
 #include <cgv_connector/SceneUpdate.h>
 #include <cgv_connector/PickDropService.h>
 #include <cgv_connector/PickPlaceService.h>
 #include <cgv_connector/BinCheck.h>
 
-#include "MoveItRobotArmController.h"
+#include "ccf/controller/MoveItRobotArmController.h"
 
 void MoveItRobotArmController::updateScene(cgv_connector::SceneUpdateRequest &req, ros::ServiceClient &bin_check_client) {
 
diff --git a/src/RobotArmController.cpp b/src/ccf/controller/RobotArmController.cpp
similarity index 99%
rename from src/RobotArmController.cpp
rename to src/ccf/controller/RobotArmController.cpp
index 360a23db948bc75b04b102640c0bd6d85fed2399..75335acd7637b62f674d4cd9dcce4a53b3eeab14 100644
--- a/src/RobotArmController.cpp
+++ b/src/ccf/controller/RobotArmController.cpp
@@ -9,7 +9,7 @@
 #include <ros/package.h>
 #include <google/protobuf/util/json_util.h>
 
-#include "RobotArmController.h"
+#include "ccf/controller/RobotArmController.h"
 
 void RobotArmController::receive(const std::string &channel, const std::string &data) {
     ROS_WARN_STREAM("[ros2cgv] Received message on channel " << channel << ".");
diff --git a/src/scene_collision_object.cpp b/src/ccf/util/scene_collision_object.cpp
similarity index 93%
rename from src/scene_collision_object.cpp
rename to src/ccf/util/scene_collision_object.cpp
index 0eb193c1772e50df22688af28629b5f896058dc8..b485eb217b1038eb44383948e882d8a4cab0400a 100644
--- a/src/scene_collision_object.cpp
+++ b/src/ccf/util/scene_collision_object.cpp
@@ -2,7 +2,7 @@
 // Created by sebastian on 14.01.21.
 //
 
-#include "scene_collision_object.h"
+#include "ccf/util/scene_collision_object.h"
 
 const moveit_msgs::CollisionObject &SceneCollisionObject::getCollisionObject() const {
     return SceneCollisionObject::collisionObject;
diff --git a/src/scene_constructor_util.cpp b/src/ccf/util/scene_constructor_util.cpp
similarity index 99%
rename from src/scene_constructor_util.cpp
rename to src/ccf/util/scene_constructor_util.cpp
index 2576b32b91723f8c9db0128b93e9186004e8fc7b..b589ed369a5df8581d6d2e5034d2bbde9c234e3b 100644
--- a/src/scene_constructor_util.cpp
+++ b/src/ccf/util/scene_constructor_util.cpp
@@ -2,7 +2,7 @@
 // Created by Sebastian Ebert on 03.08.20.
 //
 #include <ros/ros.h>
-#include "scene_constructor_util.h"
+#include "ccf/util/scene_constructor_util.h"
 
 /**
  * Build a collision object from a part (originated by configuration message of table)
diff --git a/src/scene_controller_node.cpp b/src/ccf/util/scene_controller_node.cpp
similarity index 99%
rename from src/scene_controller_node.cpp
rename to src/ccf/util/scene_controller_node.cpp
index d85769e4b4f2137df0b173b5b6c793ec6120d97d..f43330e7171ddda47f665e87cf3fec6cd578d0c1 100644
--- a/src/scene_controller_node.cpp
+++ b/src/ccf/util/scene_controller_node.cpp
@@ -18,7 +18,7 @@
 #include <moveit/planning_scene_interface/planning_scene_interface.h>
 #include <moveit/move_group_interface/move_group_interface.h>
 
-#include "scene_constructor_util.h"
+#include "ccf/util/scene_constructor_util.h"
 #include <grasp_util.h>
 #include <franka_gripper_util.h>
 
@@ -27,7 +27,7 @@
 #include <tf2_geometry_msgs/tf2_geometry_msgs.h>
 #include <tf2_ros/transform_listener.h>
 
-#include "scene_collision_object.h"
+#include "ccf/util/scene_collision_object.h"
 
 /**
  * Contains the current scene and additional metadata for the grasping-process.
diff --git a/src/dummy_cgv.cpp b/src/dummies/dummy_cgv.cpp
similarity index 100%
rename from src/dummy_cgv.cpp
rename to src/dummies/dummy_cgv.cpp
diff --git a/src/dummy_pick_place.cpp b/src/dummies/dummy_pick_place.cpp
similarity index 100%
rename from src/dummy_pick_place.cpp
rename to src/dummies/dummy_pick_place.cpp
diff --git a/src/dummy_cgv_connector.cpp b/src/dummy_cgv_controller.cpp
similarity index 98%
rename from src/dummy_cgv_connector.cpp
rename to src/dummy_cgv_controller.cpp
index e8d5210c2b1d3ba2e239a6f529a6b73a2a159bce..10aa605473020a934796266ee576f5a8d880adf0 100644
--- a/src/dummy_cgv_connector.cpp
+++ b/src/dummy_cgv_controller.cpp
@@ -17,8 +17,8 @@
 
 #include "connector.pb.h"
 
-#include "DummyRobotArmController.h"
-#include "NngConnection.h"
+#include "ccf/controller/DummyRobotArmController.h"
+#include "ccf/connection/NngConnection.h"
 
 #include <google/protobuf/text_format.h>
 #include <google/protobuf/util/json_util.h>
diff --git a/src/dummy_rag_connector.cpp b/src/dummy_rag_controller_a.cpp
similarity index 96%
rename from src/dummy_rag_connector.cpp
rename to src/dummy_rag_controller_a.cpp
index b596a80e97886d871eaf4710a3912bce95044abc..b3842b736eac2647ae9e7073bd6acc3917af2fdc 100644
--- a/src/dummy_rag_connector.cpp
+++ b/src/dummy_rag_controller_a.cpp
@@ -17,10 +17,10 @@
 
 #include "connector.pb.h"
 
-#include "DummyRobotArmController.h"
-#include "NngConnection.h"
-#include "MqttConnection.h"
-#include "NodeUtil.h"
+#include "ccf/controller/DummyRobotArmController.h"
+#include "ccf/connection/NngConnection.h"
+#include "ccf/connection/MqttConnection.h"
+#include "ccf/util/NodeUtil.h"
 
 #include <google/protobuf/text_format.h>
 
diff --git a/src/dummy_rbg_connector.cpp b/src/dummy_rag_controller_b.cpp
similarity index 97%
rename from src/dummy_rbg_connector.cpp
rename to src/dummy_rag_controller_b.cpp
index 145fe6ecd44550495c7783ca07aa968f7a39a909..91dc0b79b05c3cc97e7ecf14303c7435c2400dac 100644
--- a/src/dummy_rbg_connector.cpp
+++ b/src/dummy_rag_controller_b.cpp
@@ -17,10 +17,9 @@
 
 #include "connector.pb.h"
 
-#include "DummyRobotArmController.h"
-#include "NngConnection.h"
-#include "MqttConnection.h"
-#include "NodeUtil.h"
+#include "ccf/controller/DummyRobotArmController.h"
+#include "ccf/connection/MqttConnection.h"
+#include "ccf/util/NodeUtil.h"
 
 #include <google/protobuf/text_format.h>
 
diff --git a/src/moveit_cgv_connector.cpp b/src/moveit_cgv_controller.cpp
similarity index 98%
rename from src/moveit_cgv_connector.cpp
rename to src/moveit_cgv_controller.cpp
index c3de52025ea44026d162fa17d8f82b427826e318..d4f5fb7bc38f5ce4c6da75351a05cd4141139a06 100644
--- a/src/moveit_cgv_connector.cpp
+++ b/src/moveit_cgv_controller.cpp
@@ -18,8 +18,8 @@
 #include <cgv_connector/BinCheck.h>
 #include <cgv_connector/SceneUpdate.h>
 
-#include "MoveItRobotArmController.h"
-#include "NngConnection.h"
+#include "ccf/controller/MoveItRobotArmController.h"
+#include "ccf/connection/NngConnection.h"
 
 const std::string NODE_NAME = "ros2cgv_moveit";