How do i get ros_lib and roscpp source files?

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Hi,

i want to implement roscpp to my C++ project to communicate to ROS via TCP. (microcontroller programmed in C++) Here is a little background:

Some time ago i used rosserial_client on my C++ project. To get rosserial_client source files (.h and .cpp) to my project what i did before was doing this in terminal on ROS indigo :

rosrun rosserial_client make_libraries

And it got me a nice folder named "ros_lib" containing everything i needed to port rosserial_client to my project. Worked out fine. (.h and .cpp files)

But now i want to use roscpp in my project, to use tcp communication with tcp sockets (i think i need to use transport.h). And i cannot figure out how to get roscpp and roscpp dependencies source files (.h and .cpp) to a single folder with everything working.

I tried to get roscpp from Github then doing a catkin_make on it, but could'nt find something useable after all.

How do i get ros_lib and roscpp source files (in a single folder, with everything working) to port to my C++ project? Thank you!