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roscpp - rospack problem when compiling gazebo plugin

I get the following error msg when trying to compile a plugin for a gazebo robot

Failed to invoke /opt/ros/groovy/bin/rospack cflags-only-I roscpp [rospack] Error: package/stack 'roscpp' depends on non-existent package 'cpp_common' and rosdep claims that it is not a system dependency.

Failed to invoke /opt/ros/groovy/bin/rospack cflags-only-I roscpp [rospack] Error: package/stack 'roscpp' depends on non-existent package 'cpp_common' and rosdep claims that it is not a system dependency.

It seems that I don't have roscpp dependency, can anyone tell me on how to install it, or what I should do to fix this problem.

If this helps, I was following this tutorial from gazebo: gazebosim.org/wiki/Tutorials/1.5/ros_enabled_model_plugin

My system: ROS Groovy, Gazebo 1.5, Ubuntu 12.04

Thanks in advance for your guidance