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I managed to build ROS jade on Ubuntu Willy compiling from sources. Until the moment It works nice:

I installed many packages, among them: navigation rviz gmapping hector_slam rqt

rosinstall_generator gmapping hector_slam navigation rviz rqt ros_comm --rosdistro jade --deps --wet-only --exclude roslisp --tar > my_application.rosinstall

The dependencies I had to install were:

sudo apt-get install libtinyxml-dev lz4 liblz4-dev BZip2 libz2-dev libbz2-dev liburdf-dom-headers-dev libgtest-dev libsdl-image1.2-dev liburdfdom-dev libogre1.8-dev libassimp-dev python-netifaces

Download it

wstool init -j10 src my_application.rosinstall

Compile it

./src/catkin/bin/catkin_make_isolated --devel devel_isolated --devel-space devel_isolated -DCMAKE_BUILD_TYPE=Release

Install it

./src/catkin/bin/catkin_make_isolated --devel devel_isolated --devel-space devel_isolated -DCMAKE_BUILD_TYPE=Release --install