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In general it's a bad idea to do this, because then packages from two different ROS distributions will be installing conflicting files. For example, if you release your package for both Indigo and Jade, then the binary deb's for your packages on those distributions will not be installable at the same time, which defeats the whole point of having things installed to /opt/ros/<distro>
.
You can use a debian hook if you want. If there is a debian
folder in a package, then bloom will leave the files there and only add the rules, control, etc files. See:
For example, the pointgrey camera driver package installs udev rules: