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You've found a bit of a gap in the functionality. There are core rosdep rules and the ability to install ros packages as dependencies through rosdep which was extended later.

You can get the list of ROS packages that you need by asking for rospack depends <PACKAGE_NAME> and that will give you the second list. With some munging to get to the debian names.

In general for this use case we generally just recommend invoking rosdep on the target machine as usual. Then you don't need to worry about parallel book-keeping the dependency lists. This is assuming you're installing from source.

For any production deployment it's highly recommended to build actual packages which will automatically install the dependencies for you automatically.