What IS good, and how do we determine it?

[Wyrd of Gawd]

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Because you say so?  Because the Catholic church says so?  You can't think of any situation in which it is morally right to steal?

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It is acceptable for a starving person to steal food, but not more than is necessary.

From the Catechism:

2408 The seventh commandment forbids theft, that is, usurping another's property against the reasonable will of the owner. There is no theft if consent can be presumed or if refusal is contrary to reason and the universal destination of goods. This is the case in obvious and urgent necessity when the only way to provide for immediate, essential needs (food, shelter, clothing . . .) is to put at one's disposal and use the property of others.191

The 7th Commandment says that all Jewish men have to show up before the Lord God of Israel three times a year and while they are there other guys are to keep their mitts off of their land.  Exodus 34:23-24.  

None of the Ten Commandments prohibit stealing food.  There were some laws against stealing but it was OK to steal foreigners' lands.