@SpringBootApplication
public class Application {

  @Bean
  public BrokerService broker() throws Exception {
    BrokerService broker = new BrokerService();
    broker.addConnector("tcp://localhost:61616?broker.persistent=false");
    return broker;
  }

  @JmsListener(destination = "robotCommand")
  public void listen(String in) {
      System.out.println(in);
  }

<dependency>
        <groupId>org.apache.activemq</groupId>
        <artifactId>activemq-kahadb-store</artifactId>
        <version>5.15.2</version>
    </dependency>
    <dependency>
        <groupId>org.apache.activemq</groupId>
        <artifactId>activemq-broker</artifactId>
        <version>5.15.2</version>
    </dependency>
    <dependency>
        <groupId>org.springframework.boot</groupId>
        <artifactId>spring-boot-starter-activemq</artifactId>
        <version>1.5.10.RELEASE</version>
    </dependency>

2018-02-02 11:48:30.450  INFO 17008 --- [           main] s.c.a.AnnotationConfigApplicationContext : Refreshing org.springframework.context.annotation.AnnotationConfigApplicationContext@53045c6c: startup date [Fri Feb 02 11:48:30 MSK 2018]; root of context hierarchy
2018-02-02 11:48:31.296  INFO 17008 --- [           main] o.apache.activemq.broker.BrokerService   : Using Persistence Adapter: KahaDBPersistenceAdapter[D:\work\app\root\activemq-data\localhost\KahaDB]
2018-02-02 11:48:31.297  INFO 17008 --- [  JMX connector] o.a.a.broker.jmx.ManagementContext       : JMX consoles can connect to service:jmx:rmi:///jndi/rmi://localhost:1099/jmxrmi
2018-02-02 11:48:31.300  INFO 17008 --- [           main] o.a.activemq.store.SharedFileLocker      : Database activemq-data\localhost\KahaDB\lock is locked by another server. This broker is now in slave mode waiting a lock to be acquired