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Make sure you created your package in $ROS_PACKAGE_PATH. After that, type rospack profile, then rospack find apriltag should work!. If it still doesn't work, I would always just default to remaking the catkin workspace by deleting and reinstalling it except for the /src file. After that, navigate to ~catkin_ws/devel to ensure that the setup.bash file is in fact present. Then, type nano ~./bash.rc to open the bash.rc file in the terminal and edit the source path, which is located at the bottom of the text file, with source [file path to setup.bash]. An alternative way is to type ctrl + h on your home folder to open all hidden files on your computer and open and edit the .bashrc file from. On a side note, I would recommend sourcing the environment with source devel_isolated/setup.bash instead of source devel/setup.bash if you are using a ROS1 Distro since it's more reliable in exchange for speed since it processes all packages sequentially. You can learn more about catkin_make vs catkin_make_isolated from Dirk Thomas & gvdhoorn's comment.