If you're targetting OS4:
IGraphics->SetRPAttrs( rastport, RPATTR_APenColor, 0xRRGGBB, TAG_DONE );
And if you were targetting AROS/MorphOS you would use:
SetRPAttrs( rastport, RPTAG_FgColor, 0xRRGGBB, TAG_DONE );
At least MorphOS defaults to 3.x pens though, so before using truecolor rendering you should call SetRPAttrs( rastport, RPTAG_PenMode, FALSE, TAG_DONE );. That tells MorphOS that you really want to render by using RGB rather than pens. I don't remember if AROS had such "pen mode" default or not.
Anyway, if AROS graphicslibrary would be backported you'd get the RPTAG_FgColor and RPTAG_BgColor similar to AROS/MorphOS.
Here's some example code I wrote some time ago:
http://www.sintonen.fi/src/misc/truecolortest.c