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If they're in the same repository then bloom can release them at the same time. If they are in different repositories then you need to wait until the release pull request of the first package is merged before releasing the second one. You don't have to wait for the build farm to build the package successfully or anything, just that the pr is merged. After the pr is merged it will be available via rosdep (which is actually via python-rosdistro) almost instantly.