What should be the command for following role creation requirement?
I am not sure of any other alternative but i believe user needs to be there in MSDB or should have the admin rights to execute or perform any required action on the job. There is a connect item about this as well, SQL2005 SQLAgent MSDB security roles 

Or you can use an option as mentioned here:


  You could create a stored procedure that runs the job. You can use
  with execute as owner to run the stored procedure as the database
  owner. That way, the users themselves don't need permissons on
  sp_start_job


Also, if feasible, you can read Launching SQL Agent Job from stored procedure not on [msdb] database, or, How Necessary is SET TRUSTWORTHY ON?