The short answer is no ... there is no way to recover a file once you've done an rm.
However, I read an article once which suggested that a deleted file may be recoverable if you recognize the fact that it was deleted in error immediately. Then there may be steps you can take, but it's a long shot. I'll see if I can find it.
The most common alternative is to write (or make use of) a "recycle bin" script. This script essentially replaces the rm command.
Greg.