I had the same problem, but I'm running Kubuntu 10.10. For my surprise, the
solution was pretty straghtforward. First I did

$ rosdep install rxtools

because turtle_teleop was giving me this headache. Then I continued with the
following command

$ rosmake turtle_teleop roscpp_tutorials rospy_tutorials rxtools

and I received this message:

>> rosdep check failed to find system dependencies: Did not detect packages:
>> ['flex', 'libusb-dev', 'bison', 'joystick', 'python-bluez',
>> 'libbluetooth-dev']

I installed all of them by hand, using the good old apt-get and then I ran
again

$ rosmake turtle_teleop roscpp_tutorials rospy_tutorials rxtools

and everything was fine.

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