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Instead of checking this project out directly into your home directory, you should check it out into a catkin workspace.

If you already have a catkin workspace, cd into the src directory in your catkin workspace, run the checkout there, and then rebuild your workspace.

If you don't already have a catkin workspace, you can make one (called catkin_ws)in your home directory:

cd ~
mkdir -p catkin_ws/src

Then check out the package into it:

cd ~/catkin_ws/src
git clone https://github.com/sungjik/my_personal_robotic_companion.git

Install dependencies:

 cd ~/catkin_ws
 rosdep install --from-paths src -i -y

(If rosdep still reports missing dependencies, check their source out into your workspace too)

And finally, build and source your workspace:

cd ~/catkin_ws
catkin_make
source devel/setup.bash