I grew up very poor. I totally understand what it is like having nothing and wondering if we were going to eat each day. I grew up in a house that was falling down around me, with a huge hole in the floor. Staring at the dirt below used to scare me.
In the case of the child I mentioned - no one is trying to take the child away. The child had been offered a place to sleep at night to have a warm bed. The parent is scared and won't accept help. They have been sleeping outside the apartment complex where a warm bed was offered. It's not a foster situation at all. The people who offered the bed, and were turned down by the parent, did end up calling CPS to see if they could help convince the parent to let the child sleep in a warm bed, and CPS told them it wasn't a CPS issue at all. There has to be drugs or abuse involved before CPS will step in.