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Conceptually this is not quite right. rosdep is the tool which should be used to install dependencies. You can add rosdep rules which resolve to pip installations (including directly from version control). You can have these rules locally or propose them for the rosdep database (https://github.com/ros/rosdistro/tree/master/rosdep).

You should run rosdep once to satisfy dependencies and then the build (catkin_make, catkin_make_isolated, or catkin build) should be called many times and therefore it shouldn't do any dependency resolution as part of the build.