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It looks like the dependency on defusedxml was added quite recently in the Kinetic branch: https://github.com/ros/ros_comm/commit/d727416e243b0ae0757754d540648f01b13d990a . That patch does not exist in the Indigo/Jade branch (indigo-devel)

Depending on why you installed a newer version of ros_comm, you have a couple of different options:

• If you installed ros_comm because you didn't think it was installed, you can remove it; it's part of every ROS install from debs. Just remove the ros_comm folder from your workspace, delete the build and devel directories to clear out any cached paths, and rebuild your workspace.
• If you installed ros_comm because you wanted patches for Jade that aren't available in the public repository yet, you can try to check out the indigo-devel branch of ros_comm (used for both Indigo and Jade), and rebuild your workspace.
• If you really wanted to use the Kinetic version of ros_comm with Jade, you can try to install the python-defusedxml package through apt. (no guarantees that the API is identical between Jade and Kinectic versions of ros_comm).

Also note that building the C++ parts of ros_comm in your overlay is not recommended. ROS uses dynamic linking, and rebuilding core libraries such as roscpp in your workspace can result in broken run-time library dependencies. Any nodes or libraries that are installed through apt were built against the version of roscpp in apt, but if you put a newer version of roscpp in your workspace they will try to use that version at run-time. If there are any conflicts or changes between the two versions of roscpp the packages installed from apt won't work.

It looks like the dependency on defusedxml was added quite recently in the Kinetic branch: https://github.com/ros/ros_comm/commit/d727416e243b0ae0757754d540648f01b13d990a . branch in PR 782, which was merged Apr 12. This is part of the sros work by Morgan Quigley. That patch does not exist in the Indigo/Jade branch (indigo-devel)

Depending on why you installed a newer version of ros_comm, you have a couple of different options:

• If you installed ros_comm because you didn't think it was installed, you can remove it; it's part of every ROS install from debs. Just remove the ros_comm folder from your workspace, delete the build and devel directories to clear out any cached paths, and rebuild your workspace.
• If you installed ros_comm because you wanted patches for Jade that aren't available in the public repository yet, you can try to check out the indigo-devel branch of ros_comm (used for both Indigo and Jade), and rebuild your workspace.
• If you really wanted to use the Kinetic version of ros_comm with Jade, you can try to install the python-defusedxml package through apt. (no guarantees that the API is identical between Jade and Kinectic versions of ros_comm).

Also note that building the C++ parts of ros_comm in your overlay is not recommended. ROS uses dynamic linking, and rebuilding core libraries such as roscpp in your workspace can result in broken run-time library dependencies. Any nodes or libraries that are installed through apt were built against the version of roscpp in apt, but if you put a newer version of roscpp in your workspace they will try to use that version at run-time. If there are any conflicts or changes between the two versions of roscpp the packages installed from apt won't work.