Stack/package robot_setup_tf not found

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Afterwards I did catkin_make and catkin_make install (no error) and tried to run: rosrun robot_setup_tf tf_broadcaster. It gives me:

[rospack] Error: stack/package robot_setup_tf not found

I suspect the problems lies with the environment configuration (just my guess) and ran: ~/catkin_ws$ echo $ROS_PACKAGE_PATH, and I got:

/opt/ros/groovy/share:/opt/ros/groovy/stacks

Catkin does out-of-source builds, which is why you need to source other spaces like devel. Since you ran catkin_make install, all build artefacts will be installed into the install space. That space has its own setup.bash, so you'll need to source that, but only after you've ran catkin_make install.

I don't see a source ~/catkin_ws/install/setup.bash in your OP, so I'm guessing you didn't do that.

See wiki/catkin/workspaces for more info on catkin workspaces in general, and on catkin spaces in particular. REP-128 is the more normative reference for this.

PS: running catkin_make install isn't actually necessary to execute nodes in your workspace. A regular catkin_make results in a devel space that can already be used. Just source /path/to/your/catkin_ws/devel/setup.bash after building your workspace. No need to install anything.

PPS: this is completely up to you of course, but I'd not use Groovy anymore. It EOL-ed for some time now, so no updated and / or fixes will be released for it.