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The others are right--you didn't run catkin_make yet. Make sure you did all these steps:

cd ~/catkin_ws/src; catkin_init_workspace; cd ~/catkin_ws; catkin_make; echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc; source ~/.bashrc;

I put semicolons as line terminators because the newlines aren't showing in my answer. Just a bit of extra safety, that's all.

The others are right--you didn't run catkin_make yet. Make sure you did all these steps:

cd ~/catkin_ws/src;
catkin_init_workspace;
~/catkin_ws/src
catkin_init_workspace
cd ~/catkin_ws;
catkin_make;
~/catkin_ws
catkin_make
echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc;
~/.bashrc
source ~/.bashrc;
~/.bashrc