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You can use a custom rosdistro: https://github.com/ros-infrastructure/ros_buildfarm/blob/master/doc/custom_rosdistro.rst

That will make sure your packages are in the rosdep database after releasing them. Also you could just have a local rosdep file which defined translations from your package names to the equivalent debian package names. See: http://answers.ros.org/question/50660/custom-rosdep-rules/

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