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The issue is that you are not passing in the correct location for g++ to search for headers.

If you don't want to use catkin as a build tool, you need to tell gcc where to find the headers and libraries. Use -i /opt/ros/version-of-ros/include -L /opt/ros/version-of-ros/lib as a starting point and keep adding the libraries and other locations as required (eg: -lpthread)

Or simply modify CMakeLists.txt created by catking_create_pkg <you-pkg-name> roscpp roslib. (Though roslib isn't compulsory)