Shell Script and C Program in ROS

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could you please expand more on (2). My code is itself a collection of c-files and headers whcih requires command line arguments as the input filename, does processing and generates a few output files... These output files would be required by me in further stages of my ROS nodes.

2 means, you basically build your code with ROS. It doesn't even require to integrate ROS with the code. Usually I'd start with roscreate-pkg of an empty roscpp package, put my sources in and enter them in CMakeLists.txt. Normally this should then compile already as a package.

You could now also setup launch files that provide the correct command line arguments, possibly relative to packages, etc.

If you need to regularly call this, a system() call is also OK. I'd still recommend building it as a package though as then you can use rosrun in the system call and are independent of hardcoded paths.

If you really want the ROS way, scrap the input/output files and send around messages instead.

That sounds pretty interesting and hopeful. I would try to do such things and would update if i get stuck up somewhere :) Sending around messages instead of files would mean making a lot of modification in my source files and I would want to avoid that for now. Thanks.

Usually one only writes a ros interface wrapper file that uses the library API. If that is possible depends on your code.

DOMHEGE, How to do 1st method plz give me one example. Means how to call C on ROS