From 4bb31788b3b3e6a26d11e405b11ac9850ba239d7 Mon Sep 17 00:00:00 2001
From: Johannes Mey <johannes.mey@tu-dresden.de>
Date: Thu, 17 Jun 2021 14:22:01 +0200
Subject: [PATCH] restructure and rename code

---
 CMakeLists.txt                                | 86 +++++++++++--------
 include/{ => ccf/connection}/Connection.h     |  0
 include/{ => ccf/connection}/MqttConnection.h |  0
 include/{ => ccf/connection}/NngConnection.h  |  0
 include/{ => ccf/controller}/Controller.h     |  2 +-
 .../controller}/DummyRobotArmController.h     |  0
 .../controller}/MoveItRobotArmController.h    |  0
 .../{ => ccf/controller}/RobotArmController.h |  2 +-
 include/{ => ccf/util}/NodeUtil.h             |  0
 .../{ => ccf/util}/scene_collision_object.h   |  0
 .../{ => ccf/util}/scene_constructor_util.h   |  0
 src/{ => ccf/connection}/MqttConnection.cpp   |  2 +-
 src/{ => ccf/connection}/NngConnection.cpp    |  2 +-
 src/{ => ccf/controller}/Controller.cpp       |  2 +-
 .../controller}/DummyRobotArmController.cpp   |  4 +-
 .../controller}/MoveItRobotArmController.cpp  |  4 +-
 .../controller}/RobotArmController.cpp        |  2 +-
 src/{ => ccf/util}/scene_collision_object.cpp |  2 +-
 src/{ => ccf/util}/scene_constructor_util.cpp |  2 +-
 src/{ => ccf/util}/scene_controller_node.cpp  |  4 +-
 src/{ => dummies}/dummy_cgv.cpp               |  0
 src/{ => dummies}/dummy_pick_place.cpp        |  0
 ...connector.cpp => dummy_cgv_controller.cpp} |  4 +-
 ...nnector.cpp => dummy_rag_controller_a.cpp} |  8 +-
 ...nnector.cpp => dummy_rag_controller_b.cpp} |  7 +-
 ...onnector.cpp => moveit_cgv_controller.cpp} |  4 +-
 26 files changed, 77 insertions(+), 60 deletions(-)
 rename include/{ => ccf/connection}/Connection.h (100%)
 rename include/{ => ccf/connection}/MqttConnection.h (100%)
 rename include/{ => ccf/connection}/NngConnection.h (100%)
 rename include/{ => ccf/controller}/Controller.h (94%)
 rename include/{ => ccf/controller}/DummyRobotArmController.h (100%)
 rename include/{ => ccf/controller}/MoveItRobotArmController.h (100%)
 rename include/{ => ccf/controller}/RobotArmController.h (98%)
 rename include/{ => ccf/util}/NodeUtil.h (100%)
 rename include/{ => ccf/util}/scene_collision_object.h (100%)
 rename include/{ => ccf/util}/scene_constructor_util.h (100%)
 rename src/{ => ccf/connection}/MqttConnection.cpp (99%)
 rename src/{ => ccf/connection}/NngConnection.cpp (98%)
 rename src/{ => ccf/controller}/Controller.cpp (94%)
 rename src/{ => ccf/controller}/DummyRobotArmController.cpp (95%)
 rename src/{ => ccf/controller}/MoveItRobotArmController.cpp (98%)
 rename src/{ => ccf/controller}/RobotArmController.cpp (99%)
 rename src/{ => ccf/util}/scene_collision_object.cpp (93%)
 rename src/{ => ccf/util}/scene_constructor_util.cpp (99%)
 rename src/{ => ccf/util}/scene_controller_node.cpp (99%)
 rename src/{ => dummies}/dummy_cgv.cpp (100%)
 rename src/{ => dummies}/dummy_pick_place.cpp (100%)
 rename src/{dummy_cgv_connector.cpp => dummy_cgv_controller.cpp} (98%)
 rename src/{dummy_rag_connector.cpp => dummy_rag_controller_a.cpp} (96%)
 rename src/{dummy_rbg_connector.cpp => dummy_rag_controller_b.cpp} (97%)
 rename src/{moveit_cgv_connector.cpp => moveit_cgv_controller.cpp} (98%)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 6a92160..2fe33e6 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 ddf483a..2e5ad4b 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 1442946..1e2774b 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 7c174e8..8d082aa 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 e4bc1d5..a1cab04 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 bb2d7df..910ea46 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 246dfd9..ea1fbfe 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 c3fda6a..0c6e4cc 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 360a23d..75335ac 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 0eb193c..b485eb2 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 2576b32..b589ed3 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 d85769e..f43330e 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 e8d5210..10aa605 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 b596a80..b3842b7 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 145fe6e..91dc0b7 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 c3de520..d4f5fb7 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";
 
-- 
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