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If you want to use the code you will surely have to come up with some interface to it on your own. So, I see two possibilities to get rid of ROS:

Write your own ros.h that is included and contains dummy/empty code for the ROS functionality (This would work like remove all ROS references). Add your own interface.
Write your own ros.h that implements the ROS functionality for your system (e.g. publisher/subscriber might get function calls or similar).

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