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Hmm... it looks like the answer is here: http://answers.ros.org/question/88086/rosmsg-show-beginner_tutorialsnum-cant-work/

You simply run:

$ cd ~/catkin_ws/

then

$ catkin_make

then

$ source devel/setup.bash

I have no idea why this works or what was wrong in the first place and what I missed in the tutorial. Neither does the poster in that link. But now I can run $ rosmsg show and get the expected output.

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