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em is the template engine used in several ROS packages and it can not be found in your case. You can check if Python can find it by calling:

python -c "import em; print(em.__file__)"

Since you installed the Debian packages they depend on python-empy and therefore should have installed it. Please verify that by running:

dpkg -l | grep python-empy

If that package is installed you should double check your Python path:

env | grep PYTHONPATH
python -c "import sys; print(sys.path)"