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hi~ Have you noticed that my source file also doesn't have any ROS header files include? It means you don't have to change any source file code you have. What you have to do is only change cmake configuration like the example I provided. And finally you just have to add link to ros by type :

cd "your ros project directory(you have to change this)";
export ROS_PACKAGE_PATH=$PWD:$ROS_PACKAGE_PATH;
rosmake;

And you will be able to compile all of your original source code with ROS cmake utilities. If later you want to use ROS tools, you can add any header files you like.