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It depends what a robot-specific package is for you. If that is just the packages necessary for running a specific type of robot, go ahead and release them as .deb. Everyone can use these.
If they are just for one specific robot or setup that you have, this is probably not necessary. In that case, yes, just recreate the catkin workspace as you would also do for algorithms. Packaging-wise: If you need to rebuilt the code on the target system, you can just make a rosinstall file of your packages and then setting up a catkin workspace should be easy. If you have the exact same setup, you could also just use the install space and copy that to the robot.
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