Installing base packages from source on Raspbian

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I'm trying to install robot_upstart from source on Kinetic running on Raspbian Jessie, and rosdep reports:

E: Unable to locate package ros-kinetic-xacro
ERROR: the following rosdeps failed to install
  apt: command [sudo -H apt-get install -y ros-kinetic-roslint] failed
  apt: command [sudo -H apt-get install -y ros-kinetic-xacro] failed
  apt: Failed to detect successful installation of [ros-kinetic-roslint]
  apt: Failed to detect successful installation of [ros-kinetic-xacro]

Raspbian and ROS's default repositories don't contain these packages, so presumably I have to install them from source as well.

What's the easiest way to do this? The kinetic-specific repositories for these (like roslint) don't seem to contain any code, much less install instructions, so I'm not sure what to do.