If you've uninstalled the app, you may have left a few bits behind.
Go to System Preferences > Accounts > Login items; if anything there looks like it's related, highlight the offending app and click the minus sign below the window.
If it's not in login items, look for a related file in these locations (the ~/ means your home folder);
Be very careful not to disturb anything else in those locations, particularly the System/ ones.
I'm the developer of Rowmote Pro, for which Rowmote Helper is the helper application.
It's not fair to post that I have been unable to help.
First, the conversation with Brian is still in progress trying to figure out why his OS X firewall is continuing to prompt for permission despite him allowing the application in its System Preferences pane.
Second, Brian has not asked about uninstallation, which certainly requires nothing as complex as looking in the LaunchAgents, LaunchDaemons, or StartupItems folders. Simply deleting Rowmote Helper.app would suffice. The Rowmote website's FAQ has an entry for uninstallation. The direct link is here: http://www.regularrateandrhythm.com/apps/rowmote-pro/support/uninstalling-rowmot e-helper.php