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Once you have run bloom and upload the sourcedebs, this is entirely a pure debian packaging pipeline. There are many systems to do this for debian systems. And yes, this is exactly the sort of logic that the ROS buildfarm provides: https://github.com/ros-infrastructure/ros_buildfarm/blob/master/doc/index.rst

I strongly recommend against trying to develop your own system beyond maybe a quick bash script to build debian packages. There's a reason that there's large projects and infrastructure setup to do this. You start out with a simple solution you're likely to keep adding features and features. There are other solutions for this too like https://github.com/mikeferguson/buildbot-ros and if you're not deploying at a scale which warrents the overhead of many debian packages such as bundling https://github.com/mikepurvis/ros-bundling or https://aws.amazon.com/blogs/opensource/building-bundling-ros-app-aws-robomaker/