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If you want to use any infrastructure of ROS (e.g. the new Docker-based buildfarm) you need to bloom-release your packages since it depends on the existence of GBP repositories.
The new buildfarm allows you to setup your own Jenkins farm using a private rosdistro if you don't want the code to be public. Please see the docs referenced from the buildfarm wiki page for details how to set this up.
You would need to setup custom jobs to perform automatic bloom releases. Regarding the question how to integrate the Git hash into the version number: You could put the hash into the description and level the debian increment for each new release from the develop branch.
One thing not clear to me is how you want the Debian packages from master and develop branches to coexist side-by-side.
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