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ROS doesn't provide a native C API.
It might be possible to write a wrapper library which exposes some aspects of ROS as a C API, and then you could create a Pascal wrapper around that library. This will require a fairly substantial understanding of the ROS C++ API, and isn't really something I'd recommend for a beginner.
Is there a specific reason that you need to use Pascal instead of C++ or Python?
If there is a JSON library for pascal, you might be able to write a pure Pascal library which communicates with rosbdrige_suite. It won't be incredibly fast, but it will probably be far easier to develop and use.
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