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Not sure what the exact problem is, but the error is pretty clear -- package.xml in numpy_tutorial is unparseable. Perhaps post the contents of that file and we can debug what is actually wrong with it.

(as for why you're even parsing package.xml, you've made a call to roslib.load_manifest().. it should be noted, that this is not needed for an actual catkin package, and in fact, is generally recommended not to do with a catkin package. You might try removing that line also. Regardless, I'd guess that tutorial is out of date)