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The lines,

<build_depend>roscpp</build_depend>
<run_depend>roscpp</run_depend>

belong in the package.xml file. The way you include roscpp in your CMakeLists.txt file is with the following:

find_package(catkin REQUIRED COMPONENTS
  roscpp
)

Look at the ROS wiki pages on CMakeLists.txt and package.xml for more guidelines.

If you still need more help it would be useful to post your CMakeLists.txt and package.xml files so that we can see what is wrong with them.