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I think that building "just" roscpp would be a task that is not worth the benefits. It has a lot of dependencies. On top of that, you can't just run CMake on it because it's designed to be built with Catkin.

If you want to cross-compile, you should start by looking here:

http://wiki.ros.org/ROS/CrossCompiling

You should be able to compile roscpp and its dependencies using Catkin and the cross-compilation facilities. You would then find the libraries you want in the build directory of your workspace.

I think that building "just" roscpp would be a task that is not worth the benefits. It roscpp has a lot of necessary dependencies. On top of that, you can't so I don't think you would be able to build "just" roscpp.

Per Dirk's comment below, you can build by just run CMake on it because it's designed to be built with Catkin.running CMake, but you need to have your environment set up correctly. You do not need a workspace, but you do need to have ROS activated in your shell (e.g. source /opt/ros/kinetic/setup.bash). You also need to have all the necessary dependencies available. For roscpp, that means that you will need everything listed in the package.xml file. To be honest, I think the easiest way to make them available would be to just install ROS. (You wouldn't need the full ROS desktop option; the minimal install is probably enough).

If you want to cross-compile, you should start by looking here:

http://wiki.ros.org/ROS/CrossCompiling

You should be able to compile roscpp and its dependencies using Catkin and the cross-compilation facilities. You would then find the libraries you want in the build directory of your workspace.