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Since you used rosdep to install them they are selected to be installed in the dpkg database. If you ask rosdep to simulate the install and to reinstall you can get a list of all the system dependencies you may want to remove. Though be careful removing them as they may be shared dependencies with other things that you want.

Use rosdep install --simulate --reinstall ...

where ... is the same arguments you used to install and uninstall the packages you don't want anymore.

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