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Not sure how to answer this as the title is different from the background...

You don't need to always use rosmake. rosmake is just there to help you build your package's dependencies. I find myself typing make much more often than rosmake as it is much, much faster if you are just making a local modification that you need to test.

This may change in the future as we bring rosmake and the 'make' level build system closer together, but, for now, that's my answer.