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Since it's saying a lot of "permission denied", I would give it a try using sudo, so:

sudo rospack depends1 beginner_tutorials

If it doesn't work, before doing this also check that your source's path is in the variable ROS_PACKAGE_PATH; in order to do this:

cd [path to your catkin workspace]/devel
source setup.bash

After this, you can check the variable value with:

echo $ROS_PACKAGE_PATH

and you should see, separated by ":", also the path to your catkin workspace.