ROS libraries [closed]

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Because embedded ROS node in your program maybe hard (how hard I don't know~XD), so if we try to think another way that we can try to embedded other libs in ROS node to get the same outcome. Because ROS node also use main...return 0, so you can add any function you like in ROS node just you write your normal program without ROS utilties. And link all the libraries to ROS node (Cmake).

I can show one example:
If my program is written in opengl. It maybe hard to embedded ROS in my opengl program. So I create a normal ROS package, put all the opengl program in that ROS node, and link opengl libs in CMakeLists.txt. That my CMakeLists.txt is

 cmake_minimum_required(VERSION 2.4.6)
 include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
 # Set the build type.  Options are:
 #  Coverage       : w/ debug symbols, w/o optimization, w/ code-coverage
 #  Debug          : w/ debug symbols, w/o optimization
 #  Release        : w/o debug symbols, w/ optimization
 #  RelWithDebInfo : w/ debug symbols, w/ optimization
 #  MinSizeRel     : w/o debug symbols, w/ optimization, stripped binaries
 #set(ROS_BUILD_TYPE RelWithDebInfo)

 rosbuild_init()

 #set the default path for built executables to the "bin" directory
 set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
 #set the default path for built libraries to the "lib" directory
 set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)

 #uncomment if you have defined messages
 #rosbuild_genmsg()
 #uncomment if you have defined services
 #rosbuild_gensrv()

 #common commands for building c++ executables and libraries
 #rosbuild_add_library(${PROJECT_NAME} src/example.cpp)
 #target_link_libraries(${PROJECT_NAME} another_library)
 #rosbuild_add_boost_directories()
 #rosbuild_link_boost(${PROJECT_NAME} thread)
 #rosbuild_add_executable(example examples/example.cpp)
 #target_link_libraries(example ${PROJECT_NAME})
 rosbuild_add_executable(opengl_test src/t.c)
 target_link_libraries(opengl_test /usr/lib/libGL.so)
 target_link_libraries(opengl_test /usr/lib/libX11.a)
 target_link_libraries(opengl_test /usr/lib/libX11.so)

And the opengl code is (just the normal opengl program):

 //t.c
 #include <stdio.h>
 #include <stdlib.h>     
 #include <GL/glx.h>    /* this includes the necessary X      headers */
 #include <GL/gl.h>

 #include <X11/X.h>    /* X11 constant (e.g. TrueColor) */
 #include <X11/keysym.h>

 static int snglBuf[] = {GLX_RGBA, GLX_DEPTH_SIZE, 16, None};
 static int dblBuf[]  = {GLX_RGBA, GLX_DEPTH_SIZE, 16,      GLX_DOUBLEBUFFER, None};

 Display   *dpy;
 Window     win;
 GLfloat    xAngle = 42.0, yAngle = 82.0, zAngle = 112.0;
 GLboolean  doubleBuffer = GL_TRUE;

 void fatalError(char *message)
 {
   fprintf(stderr, "main: %s\n", message);
   exit(1);
 }

 void redraw(void)
 {
   static GLboolean   displayListInited = GL_FALSE;

   if (displayListInited)
   {
     /* if display list already exists, just execute it */
     glCallList(1);
   }
   else
   {
     /* otherwise compile and execute to create the display list      */
     glNewList(1, GL_COMPILE_AND_EXECUTE);
     glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);

     /* front face */
     glBegin(GL_QUADS);
       glColor3f(0.0, 0.7, 0.1);  /* green */
       glVertex3f(-1.0, 1.0, 1.0);
       glVertex3f(1.0, 1.0, 1.0);
       glVertex3f(1.0, -1.0, 1.0);
       glVertex3f(-1.0, -1.0, 1.0);

       /* back face */
       glColor3f(0.9, 1.0, 0.0);  /* yellow */
       glVertex3f(-1.0, 1.0, -1.0);
       glVertex3f(1.0, 1.0, -1.0);
       glVertex3f(1.0, -1.0, -1.0);
       glVertex3f(-1.0, -1.0, -1.0);

       /* top side face */
       glColor3f(0.2, 0.2, 1.0);  /* blue */
       glVertex3f(-1.0, 1.0 ...