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How to use C in ROS Or Create Own ROS Package for Existing Code

Hello Everyone,

I stuck in one problem, I have done lots of work in different lets say C and Matlab, I can convert Matlab program to C. The main problem is How to create Own ROS package such that it can use all existing code, plz tell me in detail (coz i am newbie). How to call C program in ROS or How can I convert C into ROS program easily. I got one answer somewhere, we can cal from system(), but how I dont know.

Plz Help me Its urgent.