I don't think there is any mechanism to allow this on the install.  However, you can do this in your module the first time it loads.  The caveat here is that you will need to check this the first time the modules every time.  Another method would be to have a method set-up in the settings of the module to create the roles on command.

To check the role of the current user:

Me.UserInfo.IsInRole("ROLE_NAME")

A module shall not rely on specific roles - except the "virtual" ones: all users, registered users and unauthenticated users. All other roles are subject to the portal.

Modules can however provide different access by providing individual permissions, have a look at the permission grid of UserDefinedTable and new Forums modules for example.