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From your description, it sounds like your Python script is being called from a workspace without your ROS Python path set properly. Make sure you have built your catkin workspace with catkin_make and then source your devel/setup.bash to set your environment. You can verify the environment is then set with env | grep PYTHON

foo@bar:~/ros_ws$ catkin_make
foo@bar:~/ros_ws$ source devel/setup.bash 
foo@bar:~/ros_ws$ env | grep PYTHON

Just a sidenote, if you are using a catkin workspace, you won't need import roslib and roslib.load_manifest('PR2_assignment0'). See the answer for the question What does roslibload_manifest do? for a more detailed explanation.