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Have you tried to configure a system wide proxy in /etc/environment? Add something similar to this to /etc/environment

http_proxy=http://[user:password@]proxy_server:port/
https_proxy=https://[user:password@]proxy_server:port/

I guess rosdep init directly downloads the file from the link and does not use apt to get the file. So your proxy config for apt will not be used...

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