/usr/lib/x86_64-linux-gnu/pkgconfig/roscpp.pc is in libroscpp-dev 1.11.16-3.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
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Name: roscpp
Description: Description of roscpp
Version: 1.11.16
Cflags:
Libs: -lroscpp -lpthread -l:/usr/lib/x86_64-linux-gnu/libboost_signals.so -l:/usr/lib/x86_64-linux-gnu/libboost_filesystem.so -l:/usr/lib/x86_64-linux-gnu/libboost_system.so
Requires: cpp_common message_runtime rosconsole roscpp_serialization roscpp_traits rosgraph_msgs rostime std_msgs xmlrpcpp
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