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A good question. I don't know a good answer.

We can get some hints from the default script provided in /opt/ros/fuerte/env.sh:

#!/bin/sh

if [ $# -eq 0 ] ; then
    /bin/echo "Entering environment at /opt/ros/fuerte"
    . /opt/ros/fuerte/setup.sh
    $SHELL
    /bin/echo "Exiting build environment at /opt/ros/fuerte"
else
    . /opt/ros/fuerte/setup.sh
    exec "$@"
fi

I suspect that one could add additional environment definitions using a similar script.