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rosdep is not designed to pull packages from source which is what you are asking for. It is designed to install system dependencies only from the package manager.

The tool you are looking for is rosinstall_generator available as python-rosinstall-generator from apt.

It works using the rosdistro library. And to make use of it for unreleased code you will need to setup your own rosdistro files. It's a designed use case but has not been polished for general use.

In the mean time most users simply create a rosinstall file that they keep the common tools they need in their workspace.