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The problem, which wasn't immediately visible from the initial error message, was that the ROS visual packages need libdrm-dev which couldn't be installed because I had used an xorg PPA to install some bleeding edge graphics packages, and those were blocking the installation of some standard libdrm* Ubuntu packages.

I was able to resolve this by running:

sudo aptitude install libdrm-dev

which is able to resolve this by downgrading the libdrm* packages back to the standard Xenial/Trusty packages. After that, the ROS packages installed just fine.

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