Arduino Uno not including two header files at the same time
First of all, that page has a link to an old version of the RadioHead library.
This is a link to RadioHead: www.airspayce.com/mikem/arduino/RadioHead. You will find the newest library on that page.

The Servo library uses TIMER1.
The RadioHead in RH_ASK mode uses TIMER1.
Both use the same interrupt of TIMER1. That is what the compiler is trying to tell you with: "multiple definition of _vector_11".

You could move one of them to TIMER2.
There are alternative Servo libraries that use TIMER2.
The RadioHead can set a define for TIMER2. The explanation is in the library files in RH_ASK.h, you have to set "#define RH_ASK_ARDUINO_USE_TIMER2" in RH_ASK.cpp.

Why are you using the Servo library for a stepper motor ?