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Thanks @dornhege, that definitely got me going in the right direction! I ended up using the command rosdep install --from-paths src --ignore-src --rosdistro hydro -y --os=ubuntu:saucy (note the addition of --os=ubuntu:saucy) to do exactly what you suggested.

For other people installing on Linux Mint 16 (or Ubuntu Saucy), there were a few other things I had to do:

1. Remove shiboken (and libshiboken*)
2. Fix my /usr/lib/x86_64-linux-gnu/libGL.so to point to /usr/lib/libGL.so.

Also, I did not get the Desktop-Full install working (just Desktop), since gazebo was giving me problems (this might be fixable by following the Debian suggestions).