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If you want to build a ROS package into a deb, you can do it just like any debian package manually I highly recommend reading through the Debian documentation. There's a relatively steep learning curve unfortunately.
A few starting points are:
I don't know what your use case is, but if you're building ROS packages privately you can still use bloom to generate a lot of the boilerplate needed above. And you can use git-buildpackage to build the resultant debian packages locally in approximately one line.
A simpler approach that can fill many use cases is to use the checkinstall tool. You can use checkinstall with the install target for a catkin workspace.
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