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Metapackages don't contain any significant contents on their own, they pull in a set of desired packages as dependencies. So in order to easily use metapackages your package A and B debs need to be available in a repository somewhere.
Anon-ROS specific way to construct metapackages is described in https://askubuntu.com/questions/33413/how-to-create-a-meta-package-that-automatically-installs-other-packages#33417 It assumes that your package A and B are installable from a repository.
To my knowledge there are not tools in the ROS ecosystem for constructing a single debian binary package from multiple existing binaries.
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Metapackages don't contain any significant contents on their own, they pull in a set of desired packages as dependencies. So in order to easily use metapackages your package A and B debs need to be available in a repository somewhere.
Anon-ROS A non-ROS specific way to construct metapackages is described in https://askubuntu.com/questions/33413/how-to-create-a-meta-package-that-automatically-installs-other-packages#33417 It assumes that your package A and B are installable from a repository.
To my knowledge there are not tools in the ROS ecosystem for constructing a single debian binary package from multiple existing binaries.
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