There is no way for him to get a green card unless one of his parents or siblings are citizens or permanent residents. If he leaves the country, he will be subject to a ban and cannot return for 10 years.
We are in the exact same situation as him and there is nothing you can legally do to help him. The best you can do is support the DREAM Act and help us fight for its passage.
The DREAM Act is the only way that Rogelio will be able to get legal status.
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I am not an immigration attorney nor do I have any experience litigating immigration cases. As always, seek professional advice before pursuing any course of action. I cannot be held accountable for any consequences of my comments.