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I got this exact same error after installing empy using easy_install (because installation through rosdep using pip failed). For me the only way to solve the problem was to remove the installed version:

sudo pip uninstall empy

and then to download the package directly from the author: http://www.alcyone.com/software/empy/empy-latest.tar.gz, followed by installing the package by hand:

tar xzf empy-latest.tar.gz
cd empy-3.3
sudo python setup.py install

These steps got rid of the empy errors for me.