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It sounds to me like you didn't quite get the package built correctly. Inside of the roscopter_base/msg/ directory, you will find all of roscopter message definitions. If rosmake successfully builds the project, it should create a roscopter_base/msg_gen/ directory, and a roscopter_base/src/roscopter/ directory. These directories actually have the necessary code to use the messages in roscpp and rospy. If you don't have those directories (or the files that are supposed to be in them), you will encounter the error that you are seeing. Try running
rosmake roscopter
to (re)generate the necessary files.
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