Linking to channel via structure section
I don't think that carlcs was suggesting that you incorporate individual blog posts into the 'pages' structure. He was only suggesting that you place those pages into the structure that you would want in your main navigation (using different entryTypes defined for each page layout); like your blog index page for example. In your case, what you would likely want to do (assuming you are following this strategy at all), is to create an entry for 'blog' in your structure, with a unique entryType called 'blogIndex' for example, and a matching template called '_blog.html' or '_blog.twig' which will be your blog landing/index page.

You would then create a channel for your individual blog entries, also called 'blog'.

In this way the urls will sync up nicely, such that the uri '/blog' will display your structure entry (which is designed to render, for example, a summary of the first 20 blog entries from your 'blog' channel); and the uri '/blog/my-blog-entry-title' will display your blog entry detail page from your 'blog' channel (assuming the blog entries are long enough that you even need a detail page).

Check out this answer for a more specific example with code examples.