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The links from @gvdhoorn are good.
If you have your own deb packages for your local purposes you can add your own custom rosdep rules to resolve them on your systems. rosdep can take extra items in the sources.list.d folder just like apt can. And if you add it on your systems rosdep will resolve it on your systems. (This does not need to be even a rdmanifest, it can be a standard debian rule. The only thing for it to work is that you also need to make sure to add your private apt repository
We will not accept rdmanifests to the main repository, but like above you can add your own rosdep sources to use them.
However as discussed in the comments releasing the package onto the ros buildfarm using bloom might make sense too. As long as it's open source and we can build and redistribute it.
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