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It looks like ffmpeg has been deprecated in Ubuntu for a while, and it's being replaced in 14.04 with lbav-tools according to http://askubuntu.com/questions/432542/is-ffmpeg-missing-from-the-official-repositories-in-14-04 .

You should probably either:

• declare a new rosdep called avtools or similar, which contains most of the same things that ffmpeg contained. This may introduce extra maintenance for packages that will have to switch their API to depending on avtools.
• update the existing ffmpeg dependency to silently depend on avtools on newer versions of Ubuntu. This will probably become very brittle as the avtools and ffmpeg command-line tools and APIs diverge in upcoming Ubuntu releases.