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I was able to solve a similar error using this method

mkdir -p temp_ws/src
cd temp_ws/src
wstool init .

create a file temp.rosinstall with these contents

- git: {local-name: ivcon, uri: '', version: master}
- git: {local-name: convex_decomposition, uri: '', version: master}


wstool merge temp.rosinstall
wstool update
cd ..
source devel/setup.bash

Now you'll have ivcon and complex_decomposition commands available, return to the package you were trying to build

cd <path to katana ws>

Some of these steps may be redundant / not the most efficient but they worked for me.