working on service-based refactoring

.idea/.gitignore

.idea/libraries/ROS.xml

.idea/libraries/workspace.xml

.idea/misc.xml

.idea/modules.xml

.idea/panda_teaching.iml

.idea/ros.xml

.idea/vcs.xml

CMakeLists.txt

cmake-build-debug/CATKIN_IGNORE

cmake-build-debug/CMakeCache.txt

cmake-build-debug/CMakeFiles/3.15.3/CMakeCCompiler.cmake

cmake-build-debug/CMakeFiles/3.15.3/CMakeCXXCompiler.cmake

...d-debug/CMakeFiles/3.15.3/CMakeDetermineCompilerABI_C.bin

...debug/CMakeFiles/3.15.3/CMakeDetermineCompilerABI_CXX.bin

cmake-build-debug/CMakeFiles/3.15.3/CMakeSystem.cmake

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cmake-build-debug/CMakeFiles/3.15.3/CompilerIdC/a.out

...ug/CMakeFiles/3.15.3/CompilerIdCXX/CMakeCXXCompilerId.cpp

cmake-build-debug/CMakeFiles/3.15.3/CompilerIdCXX/a.out