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All packages that use catkin provide a real install target in their CMakeLists.txt. One side effect of that is that C++ programs don't install their source code, i.e. the source code for roscpp, tf, etc. is no longer installed when using the Debian packages.

I think using rosinstall/rosws only makes sense if you want to build these packages from source. In that case follow the instructions here.

If you just want to find the source code for a stack, you can use roslocate and check out the code yourself (preferably to a location that is not in your ROS_PACKAGE_PATH to prevent conflicts). Example:

$ roslocate info roscpp
- svn:
    local-name: roscpp
    uri: https://code.ros.org/svn/ros/stacks/ros_comm/tags/electric/clients/cpp/roscpp

Unfortunately, the URI is pointing to electric, but by just replacing electric with fuerte, you get the right repository URI.

Btw. I'm not sure why your pip command throws an error but try leaving out the -U option.