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This means something went wrong when you followed the install steps. The rosinstall command should have cloned the pal_hardware_interface package into your src/ directory, so rosdep shouldn't try to resolve it to a system dependency. If you follow the steps in the wiki page you've linked to exactly, everything should work.

I've verified that the following steps work on a fresh Ubuntu Trusty installation. They are basically the steps from the wiki page, I didn't adapt anything crucial.

sudo sh -c 'echo "deb trusty main" > /etc/apt/sources.list.d/ros-latest.list'
wget -O - | sudo apt-key add -
sudo apt-get update
sudo apt-get install -y python-rosdep python-rosinstall python-catkin-tools git build-essential cmake
sudo rosdep init
rosdep update

sudo add-apt-repository --yes ppa:xqms/opencv-nonfree
sudo apt-get update
sudo apt-get install -y libopencv-nonfree-dev

# install ros-core, otherwise rosinstall complains that /opt/ros/indigo doesn't exist
sudo apt-get install -y ros-indigo-ros-core

mkdir ~/tiago_public_ws
cd ~/tiago_public_ws
rosinstall src /opt/ros/indigo tiago_public.rosinstall

# Use rosdep to install all dependencies
rosdep install --from-paths src --ignore-src -y --rosdistro indigo --skip-keys="opencv2 opencv2-nonfree pal_laser_filters speed_limit sensor_to_cloud"

source /opt/ros/indigo/setup.bash

# Init catkin workspace
catkin init
# Build packages
catkin build -DCMAKE_BUILD_TYPE=Release
source ~/tiago_public_ws/devel/setup.bash

Here is the Vagrantfile I've created to verify that the instructions work.