Rob Henderson grew up poor, with a drug-addicted mother — abandoned and shuffled around for years through the foster care system. As a result of an unstable upbringing and related trauma, he struggled through school, with substance abuse, and with things like anxiety and depression, but prevailed, joining the Air Force at 17 and eventually making it to Yale University, where he studied psychology, going on to complete a Ph.D. in Psychology at the University of Cambridge.

Rob made it out of his situation to lead a successful life, but most like him don't. Why? What really makes a difference between success and failure, in terms of upbringing?

Rob is the author of a new book, "Troubled: A memoir of foster care, family, and social class," within which he discusses his upbringing, the effect it had on him, and what the middle and upper classes get wrong about kids, family, class, education, "privilege," mental health, and their understanding of social ills.

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