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qt_gui_cpp only declares a build dependency on qtbase5-dev. That means the dependency is only being installed when that package is being built.

When you are using it to build your package only its run dependencies are installed (otherwise users of rqt would need all development packages on their system). As far as I can see nothing in that package has changed in the past - actually Kinetic is even using the exact same branch.

So I assume that you were lucky before that some other dependency brought in qtbase5-dev transitively and your package was relying on that behavior. If your package needs qtbase5-dev I recommend that you state that explicitly as a build dependency in the manifest. The "downside" will be that you can't easily switch between Qt 5 and Qt 4. That is the reason why qt_gui_cpp uses different branches for Indigo (targeting Qt 4) and Kinetic (targeting Qt 5).