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We (as in OSRF) don't recommend to use the packages coming with Xenial itself if you are on Ubuntu but recommend to continue to use the packages provided by packages.ros.org (which by the way has all Python packages for Xenial in a working condition). For multiple reasons:

the packages are very new and we don't have enough experience with them yet
it is unclear if we can release necessary changes into them once they are available in a stable distribution.

I poked the external maintainers of these Debian packages to answer on this question too.

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