I'm trying to make a plugin (.so file) for other programs that is not built with ROS but can publish to nodes that are made by ROS. Below is my plan:

static ros::NodeHandle nh;
ros::Publisher ros_publisher;

ROSPLUGIN_API void init(){
    ros::init();
    ros_publisher = nh.advertise<ros_tutorials_topic::MsgTutorial>("ros_tutorial_msg", 100);
}

ROSPLUGIN_API void publish(){
    msg = makeMsg();
    ros_tutorial_pub.publish(msg); 
}

But there are following problems:

1. I can't figure out how to write a CMakeLists.txt in this case.
2. The argc, and argv for the init function.
3. Not even sure this will work.

Have anyone challenged something similar like me??