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You can use the ssh version of the git url in your rosinstall file, for example https://github.com/wjwwood/serial.git would become git@github.com:wjwwood/serial.git. This will use your ssh keys. If you're on a shared computer and can't put your ssh keys on it (which is what you've described) then you can use git-credential cache to "save" your user name and password for a short time:

http://git-scm.com/docs/git-credential-cache

wstool does not store your password or ask for it on principal to avoid any security concerns. You can also setup a .netrc file, but that's not generally a good idea, especially on a shared computer, since it stores your password in plain text.