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I just took a look at this software and I managed to get it to compile under ROS. I just put together a quick Makefile to help you on your way. This can definitely be improved in the future. Here's what I did:

roscreate-pkg CRRCsim roscpp

Replace the contents of Makefile with this.

Replace the contents of CMakeLists.txt with this.

Then, rosmake will work correctly. NOTE: I did not write a rosdep for this package, and it requires plib, so you'd need to write that rosdep for this to work properly.

roscreate-pkg CRRCsim roscpp

Replace the contents of Makefile with this.

Replace the contents of CMakeLists.txt with this.

Then, rosmake will work correctly. NOTE: I did not write a rosdep for this package, and it requires plib, so you'd need to write that rosdep for this to work properly.

EDIT: The general idea is that you do not modify the existing library. This is to allow for updates from the original project without causing huge amounts of conflicts between your added code and the original project's update.

Take Gazebo for example... ROS compiles Gazebo as is from the original Gazebo source. Maybe some patches are applied to this process (which can exist outside of the source distribution, thus the source is modified without actually changing its files). Then, ROS provides Gazeboros, which is a ROS program that handles the Gazebo/ROS interface. This is done using the Gazebo API. If CRRCsim has a code API, then this could easily be accomplished. Otherwise, patches might be more appropriate.