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I think your workspace is not overlaying the ROS install correctly. To fix this, I propose doing the following:

cd ~/catkin_ws
rm -rf build/ devel/
source /opt/ros/kinetic/setup.bash (replace "kinetic" with the ROS version that you are using)
(while in catkin_ws/) catkin_make
source devel/setup.bash

I think that you forgot step 3 before you evoked catkin_make for your workspace. In that case, the search path does not include the installed ROS packages.

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