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To answer my own question, the solution was here:

http://wiki.ros.org/rosjava/Tutorials/indigo/Uploading%20to%20Maven%20on%20Github

I ended up forking the rosjava/rosjava_mvn_repo. Ended up putting it here: https://github.com/WPIRoboticsProjects/rosjava_mvn_repo

Now I can use the dependencies I've created in my project. Once I get a full release published I'll make a pull request to merge it in with the master repo.