Why do you want to remove ROS after prototyping?

It's an interesting question, and one we see more often, but we're going to need some more information I think. As @NEngelhard already asks: what is your primary motivation for wanting to take ROS out? Is it for licensing reasons, lack of trust in the code, performance concerns regarding the ..

.. middleware, regarding process scheduling, predictability / determinism of the entire system, application specific requirements ((hard) real-time requirements fi), etc, etc?

Without more info, the answer is obviously: yes, that can be done, but whether it makes sense is something else.

There is several reasons. First, I consider to port my project to some cheap microcontroller, so I need to have only libraries that I use. ROS is the big system and I don't need all of its components. I like minimalistic systems. Also, ROS is complex and huge (which is good for prototyping): I will

never understand whole system. So, for self education I prefer to use separate libraries and implement my own message/event simple system. Actually, I only need good support for my depth camera and some working SLAM library, but I can not (don't know how to) extra only these components from ROS (ok,

...I found some SLAM lib in ROS is wrap of open source library). If and when I need to improve performance (it is ubuntu and not real time) or make system easier, I doubt I could do it in ROS.

Using a cheap microcontroller for your depth camera and work with SLAM might be hard. Did you think about using ROS in a Raspberry Pi? I know it isn't exactly a microcontroller, but is cheap and easy to install&run. Consider it as an option!

More info: http://wiki.ros.org/ROSberryPi

Furthermore, implementing your own message/event system might be a pain. I don't know how it works on Raspberry, but I run ROS in VirtualBox (in an old PC) and doesn't give me performance issues, as long as I don't use RVIZ or Gazebo, for example (any GUI tool)

Hi Enriq. Yes, you are right, for depth camera I need powerful system. I ordered RPi clone 'UP board' with really promising specs. I will try to use ROS, but I will also try to implement it on the naked system with help of available open libraries.

Good luck! With ROS you can connect your RPi and your computer easily, so you can visualise all your programming with GUIs. Try to stop all GUI in your RPi, that could improve your performance and maybe you don't need to export your project out of ROS