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Here is a tiny little example adapted from the roscpp [publisher/subscriber]( tutorial.

#include <ros/ros.h>
#include "roscopter/RC.h"

int main(int argc, char **argv)
    ros::init(argc, argv, "rc_sender");
    ros::NodeHandle n;
    ros::Publisher rc_pub = n.advertise<roscopter::RC>("send_rc", 1000);
    ros::Rate loop_rate(10);
    int count = 0;
    while (ros::ok())
    roscopter::RC msg;
    return 0;

My manifest.xml (or package.xml in Groovy) declares the roscopter package as a dependency. Also, my CMakeLists.txt file is set to compile this file. Running the produced executable indeed publishes an empty roscopter/RC message at 10 Hz.