Like Philipa stated, ALL keys/key fobs must be present during the programming. The dealer can do this for you for a fee of around $50 if you don't have to have any keys cut as well.
If you have the non-intellikey, you may be able to program the keys yourself using the following procedure:
http://www.titantalk.com/forums/attachm ... _instr.jpg
Those instructions work on a Titan for sure, but to my knowledge, it's never been tried on a Rogue. BUT, I do know for a fact that the non-intellikeys for the Rogue (the ones with the key and the buttons on the key itself) can be programmed for a Titan. (I have 2 Rogue keys cut and programmed for my Titan) This leads me to believe that the programming process outlined in the document will work. IF your Rogue is a non-intellikey vehicle. If it does use the Intellikey, just take it to the dealer.