move code into class and callback

README.md

-# CCF: The CeTI Cobot Framework
+# CCF: The CeTI Cobotic Framework
+
+**TODO** the documentation does not represent the current state of the framework and needs to be updated!
 
 This ROS package provides a connection between a ROS-based model and the [CGV framework](https://github.com/sgumhold/cgv).
 The purpose of this connection is to use the CGV framework to select and move elements from a scene provided by ROS
@@ -86,7 +88,7 @@ This demonstrator contains two mock-up nodes that can serve as stand-ins for fut
 #### Execution
 
 - pick an object by id: `rostopic pub -1 /robot/pick std_msgs/String "objectRed1"`
-- place an picked object into a bin by id: `rostopic pub -1 /robot/place std_msgs/String "binRed"`
+- place a picked object into a bin by id: `rostopic pub -1 /robot/place std_msgs/String "binRed"`
 
 ### Using the Example with Docker
 

include/ccf/controller/MoveItRobotArmController.h

@@ -15,6 +15,8 @@ private:
 
     ros::ServiceClient pick_drop_client;
     ros::ServiceClient pick_place_client;
+    ros::ServiceClient bin_check_client;
+    ros::ServiceServer get_scene_service;
 
 public:
     explicit MoveItRobotArmController(ros::NodeHandle &nodeHandle, const std::string &cellName);

src/ccf/controller/MoveItRobotArmController.cpp

@@ -130,7 +130,18 @@ bool MoveItRobotArmController::pickAndPlace(Object &robot, Object &object, Objec
 MoveItRobotArmController::MoveItRobotArmController(ros::NodeHandle &nodeHandle, const std::string &cellName)
         : RobotArmController(nodeHandle, cellName),
           pick_drop_client(nodeHandle.serviceClient<ccf::PickDropService>("/pick_drop_service")),
-          pick_place_client(nodeHandle.serviceClient<ccf::PickPlaceService>("/pick_place_service")) {}
+          pick_place_client(nodeHandle.serviceClient<ccf::PickPlaceService>("/pick_place_service")) {
+
+    bin_check_client = nodeHandle.serviceClient<ccf::BinCheck>("/check_bin_service");
+    get_scene_service = nodeHandle.advertiseService<ccf::SceneUpdateRequest, ccf::SceneUpdateResponse>(
+            "updateCgvScene",
+            [this](auto &req, auto &res) {
+                ROS_INFO_STREAM("[MoveItRobotArmController] Received a scene update from the controller.");
+                updateScene(req, bin_check_client);
+                return true;
+            }
+    );
+}
 
 bool MoveItRobotArmController::reachableObject(const Object &robot, const Object &object) {
     return false;

src/moveit_cgv_controller.cpp

@@ -14,10 +14,6 @@
 
 #include "connector.pb.h"
 
-
-#include <ccf/BinCheck.h>
-#include <ccf/SceneUpdate.h>
-
 #include "ccf/controller/MoveItRobotArmController.h"
 #include "ccf/connection/NngConnection.h"
 #include "ccf/util/NodeUtil.h"
@@ -50,9 +46,9 @@ int main(int argc, char **argv) {
 
     // scene loading is not required, the scene is updated by moveit
 
-    Object* robot = nullptr;
-    Object* selectedBox = nullptr;
-    Object* selectedBin = nullptr;
+    Object *robot = nullptr;
+    Object *selectedBox = nullptr;
+    Object *selectedBin = nullptr;
     std::optional<std::string> currentlyPickedBox{};
 
     ros::Subscriber sub = n.subscribe<std_msgs::Empty>("send_scene", 1000, [&connector](
@@ -60,7 +56,8 @@ int main(int argc, char **argv) {
     ros::Timer timer = n.createTimer(ros::Duration(10), [&connector](
             const ros::TimerEvent &event) { connector.sendScene(); }); // send a scene every ten seconds
 
-    auto lambda = [&currentlyPickedBox, &connector, &robot, &selectedBox, &selectedBin](const Selection &selection) {
+    auto selectionMessageCallback = [&currentlyPickedBox, &connector, &robot, &selectedBox, &selectedBin](
+            const Selection &selection) {
 
         if (currentlyPickedBox.has_value()) {
             ROS_WARN_STREAM("[" << NODE_NAME << "] Unable to accept selections while picking is in progress.");
@@ -94,24 +91,16 @@ int main(int argc, char **argv) {
             }
         }
     };
+    connector.reactToSelectionMessage(selectionMessageCallback);
 
-    connector.reactToSelectionMessage(lambda);
-
-    ros::ServiceClient bin_check_client = n.serviceClient<ccf::BinCheck>("/check_bin_service");
-    ros::ServiceServer get_scene_service = n.advertiseService<ccf::SceneUpdateRequest, ccf::SceneUpdateResponse>(
-            "updateCgvScene",
-            [&currentlyPickedBox, &connector, &bin_check_client](auto &req, auto &res) {
-                ROS_INFO_STREAM("[" << NODE_NAME << "] Received a scene update from the controller.");
-                connector.updateScene(req, bin_check_client);
-                if (currentlyPickedBox.has_value() &&
-                    !connector.resolveObject(currentlyPickedBox.value())) {
-                    ROS_INFO_STREAM("[" << NODE_NAME << "] box " << currentlyPickedBox.value()
-                                        << " has been removed from the scene!");
-                    currentlyPickedBox.reset();
-                }
-                return true;
-            }
-    );
+    auto sceneUpdateCallback = [&currentlyPickedBox, &connector]() {
+        if (currentlyPickedBox.has_value() && !connector.resolveObject(currentlyPickedBox.value())) {
+            ROS_INFO_STREAM(
+                    "[" << NODE_NAME << "] box " << currentlyPickedBox.value() << " has been removed from the scene!");
+            currentlyPickedBox.reset();
+        }
+    };
+    connector.reactToSceneUpdateMessage(sceneUpdateCallback);
 
     ros::spin();