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I think the error here is not with the learning_actionlib package, but with the core ros tool "rospack". See this snippet from your log:
Failed to invoke /opt/ros/groovy/bin/rospack cflags-only-I;--deps-only learning_actionlib
ImportError: No module named rospack
terminate called after throwing an instance of 'rospack::Exception'
what(): could not find python module 'catkin_pkg.rospack'. is catkin_pkg up-to-date (at least 0.1.8)?
Check to see if rospack is available on your system: which rospack. Then, check the version installed: rospack --version. You could also check to see whether the debian package ros-groovy-rospack is installed on your system.
If all of those look correct, I have seen similar errors before when there is a conflict between older versions of the ros python tools installed using pip or easyinstall and the newer versions installed using debian packages. See here for details on how to remove the older versions of the python tools.
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