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This post http://jbohren.com/tutorials/2014-02-10-roscpp-hello-world/#create-the-simplest-ros-c-program describes what catkin and cmake are doing under the hood, and how to build a simple ROS node on the command line without cmake.

The ROS packages that you install through apt-get also install pkgconfig files in /opt/ros/<distro>/lib/pkgconfig, if your build system is compatible with pkgconfig.