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I'm not sure, if this is the easiest way, but you can just download the packages and extract their contents like so:dpkg -x pkg.deb somedir and then copy the ros files to a local ros directory. Once you have setup the base ros files the extra packages shouldn't be that difficult as you only need to add their content to the stacks directory.

There will be no dependency tracking and it might even be easier (workwise) to just install ros from source without the debian packages.