Well, I found it in two international Girl Scout songbooks. It's not in any of the earlier U.S. Scout songbooks we have indexed in this thread. The songbooks give no information about the origins of the song.

The Rover

See those clouds rolling on their way.
See those stars shining so gay.
Hear the wind in the tall pine trees.
And you'll know exactly why I'm free.

Chorus
I am a Rover, rolling along
Rover, singing a song
I am a Rover, until the day I die.

Have few friends, but they are true,
The mountain flowers, the sea of blue,
I'm just a wanderer, never standing still,
I must go onward to the hills.
CHORUS

Through this world I'm bound to roam,
Without a bed, a fire or a home,
But I have a friend, a friend that is true,
And that my comrade, that is you.
CHORUS


Source: Sangam Git/Sangam Songbook, 1997

Published for Sangam, the World Centre for World Association of Girl Guides and Girl Scouts, India. Publisher: Girl Scouts of the U.S.A.
Also in Our Chalet Song Book, 1974.

tune available on request

Additional verse not included in the songbook:

Traveling through this lonely world of men
I may never see you again
But I hope that you'll always think of me
No matter where you happen to be

(from above)

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You can print music from this PDF file: http://www.km.scout.se/upload/10-ROKO/roversangen.pdf