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The easiest solution is to create debian packages through bloom locally; I have created some scripts that helps with this task: https://gitlab.com/VictorLamoine/bloom_local_release

An example usage can be found here: https://gitlab.com/InstitutMaupertuis/ros_additive_manufacturing/blob/melodic/release.bash

With these scripts you will be able to release your packages without disclosing the source code to anyone, and it handles dependencies between projects nicely.

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