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Does it have to be C only (i.e. not C++)? Then you will have problems with ROS as that is written in C++. If you just want to write C-code, but compile as C++ that's fine.

Other than that I would start from the ROS side, i.e. work through the ROS tutorials and create a basic ROS-package. Once you are familiar with that adding GTK code is just like adding any other library to ROS. You might be able to find examples for integrating GUI code into ROS as GTK + ROS packages. Currently I only know of ROS + Qt/wxWidgets, but the principle should be the same.