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I had the same error and I was able to solve it. For some reason I was able to run the test script directly with rosrun, but not with rostest. The problem was that I in CMakeLists.txt was installing the test file and script to ${CATKIN_PACKAGE_BIN_DESTINATION} instead of to ${CATKIN_PACKAGE_SHARE_DESTINATION}. After fixing that I can run it with rostest

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