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ROS is only looking for tf
in the folders specified in your error output. It should work, if you have installed tf as a debian package. Check with dpkg -s ros-indigo-tf
If you want to launch the one built from source, you need to source your catkin workspace.
I.e. in every terminal do a source ~/catkin_ws/devel/setup.bash
(you can add this to your .bashrc
for having it done automatically).