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The rosdep command you tried only works for debian installs. It checks for all packages that are (recusrive) dependencies of rgbdslam if they are installed from apt and if not, tries to install them. Since they are not available on saucy, the command fails.

For from-source installs you need to specify the --ignore-src option to make rosdep ignore packages found in the ROS_PACKAGE_PATH, i.e. the ones in your from-source base install:

rosdep install -i rgbdslam

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