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Use rosinstall. Suppose you want to put your local packages into ~/ros-fuerte/workspace and create an overlay in ~/ros-fuerte:

sudo apt-get install python-pip
sudo pip install rosinstall

mkdir -p ~/ros-fuerte/workspace
rosinstall ~/ros-fuerte /opt/ros/fuerte ~/ros-fuerte/workspace

This creates a setup.bash and friends in ~/ros-fuerte. Source it and your environment should be set.

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