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There are no official Debian packages for Ubuntu Saucy (13.10) (see http://ros.org/reps/rep-0003.html#hydro-medusa-apr-2013).

But you should be able to compile everything from source fairly easy. Eventually some system package names have changes and you need to figure them out manually or provide updated mapping for saucy back to the rosdep database (see https://github.com/ros/rosdistro/blob/master/rosdep/base.yaml#L275) in order for rosdep install to work properly.