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ROSTCP is an adapter that lets ROS send messages over TCP for topics; not for general use.

If you want a TCP socket, use the standard OS interface for creating a TCP socket.

There are many good tutorials about this online; here are a few:

http://www.thegeekstuff.com/2011/12/c-socket-programming/?utm_source=feedburner
https://www.ibm.com/developerworks/linux/tutorials/l-sock/
http://www.cs.rpi.edu/~moorthy/Courses/os98/Pgms/socket.html

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