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sudo rosmake doesn't work because you're not getting your environment variables. You can see that by doing 'printenv | grep ROS' and then 'sudo printenv | grep ROS'. If you do su - to switch to root, then source your usual ~/.bashrc (or whatever file you use to set your ROS_ROOT and all that), you should be able to use rospack commands as root. I would not recommend trying to re-build inside debs, though. You should always overlay if you want to change and re-build.