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As of bloom 0.5.13, you can supply files in a "debian" folder in your package, and the various debhelpers, including dh_installudev will pick them up. You can see this in action in pointgrey_camera_driver:

https://github.com/ros-drivers/pointgrey_camera_driver/tree/master/pointgrey_camera_driver/debian

The appropriate rule gets installed by the debian package, using the proper udev machinery, but there's no pollution of the regular catkin install procedure.