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Thanks to a nudge and some suggestions from Jarvis Schultz I found the problem with my setup. In my definition of the package_dir argument in setup.py, I incorrectly put 'src'. Since my nodes and their supporting Python modules are in "nodes" and not in "src", an update to that argument solved the problem.

After the correction, I verified that I can import moos_ros.py and uuv_moos.py in both the devel and the install environments.