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Seeing as you are trying to build tum_ardrone
nodes, and drone_stateestimation
in particular, it would seem tum-vision/tum_ardrone/manifest.xml is the associated manifest file. That actually contains proper rosdep keys:
<rosdep name="libblas-dev"/>
<rosdep name="liblapack-dev"/>
So you should be able to just use rosdep
to check and install the dependencies.