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There's actually a guide on the wiki to setting up ROS on raspbian here.

There's actually a guide on the wiki to setting up ROS on raspbian here.

EDIT: the guide is technically for fuerte on debian squeeze, but there's a raspbian part on there, too. Also, at the time of this writing, you'll also need to use the workaround mentioned here if you're going to use fuerte since rosdep isn't backwards compatible.