MAVROS and C++Application

Can we run MAVROS node from another C++ application running on Ubuntu 16.04? Or how to link MAVROS node and custom application.
A custom application is running on a companion computer (ubuntu 16.04). I want this custom application to run MAVROS node in the offboard mode to control the PX4 autopilot.

@Nouman_Ashraf If you integrate your application into ROS, you can talk to mavros using ROS topics/services.