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Here are the complete source build instructions:

http://wiki.ros.org/Installation/Source

Here are the complete source build instructions:

http://wiki.ros.org/Installation/Source

EDIT: To find the roscpp dependencies in your workspace, first source it, then run:

$ rosdep keys roscpp

For Kinetic, that shows:

rosgraph_msgs
rosconsole
roslang
catkin
xmlrpcpp
std_msgs
message_runtime
rostime
roscpp_serialization
roscpp_traits
message_generation
cpp_common
pkg-config

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