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Hi everyone, I just ran into this problem and found it was my own stupidity and not reading CAREFULLY the tutorial instructions.

I have the distro indigo (found by "echo $ROS_DISTRO").

So I thought I followed the tutorial and I missed the one step... BEFORE you call:

catkin_create_pkg beginner_tutorials std_msgs rospy roscpp

Make sure you are in the ~/catkin_ws/src directory. <- that's the step I missed.

I called catkin_create_pkg from the ~/catkin_ws directory. WRONG... it's looking for it in the src directory.

Anyway, hope this helps someone else...