A fully executable example setup for the RCP toolkit showing a basic SimpleAdder AUT start - see Figure 2.6, “Starting the RCP-SimpleAdder AUT via API” - and test run - see Figure 2.7, “Exectuing a first test” - can be found in the git-Repository contained within every ITE installation. It's located in ITEInstallationFolder/development/git/org.eclipse.jubula.core.git. Simply create a clone of that repository and checkout the Eclipse project org.eclipse.jubula.examples.api.adder.rcp.m2. You still have to adjust the path to the local maven repository within the pom.xml of that project and point to the one included in the installation: ITEInstallationFolder/development/api/m2-repo.
However the usage of maven is not mandatory - you can also simply setup a plain Java project using the artifacts as plain JARs on the classpath.