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When building packages the test dependencies are encoded into the debian control files to allow running tests using the debian/dpkg tools. (Actually all binary builds also run the tests before packaging) We don't gate the build on the tests passing but they are tested and there's a log of the result. And part of that is that we don't currently install the test dependencies before running the tests at the moment so almost all of them fail.
There's an open ticket on bloom about this: https://github.com/ros-infrastructure/bloom/issues/292
In the long run I think that we should be following the debian approach and run the unit tests when packaging and only consider it successfully packaged if the unit tests pass. And to do that we will want to have the test dependencies available. So I'd rather not relax the constraint that dependencies need to be available as debian packages for the debian bloom generator.
For your use case I'd suggest that you could simply patch out that dependency in the release repository and then when bloom ran the generator the test dependency would not be encountered.
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