I think the obvious answer is guitar. However you can produce rock music with out one.
For example Cop shoot cop, have two bass guitars and they create a really heavy complex rock sound.
so while guitar is the most dominant instrument in most rock bands it is not essential.
I think the drums are essential.....although now that I think of it I have seen a couple of rock bands who are a two piece and they use a drum machine......hmmmmmmm.
I guess there is no essential instruments when forming a rock band. The guitar is the instrument which stands out and which usually give rock its sound. So my vote is with the guitar, which is different to how I was expecting to answer the question when I first started writting.

