It would also cut down on the amount of code in those packages significantly. The overhead of gluing things into ROS is enourmous (and mostly makes everything worse: a robotic control system running through 3-4 unsynchronised nodes communicating over a network-based pub-sub system on commodity hardware has very little hope of working if everything is well written, let alone with the average quality of a ROS package).
Exactly, the first question when somebody suggests using ROS should be: Do you even need it in the first place? Your code may be much simpler if you forgo the networking communicating nodes model completely.
