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This error occurs because only Python packages in /opt are added to PYTHONPATH environment. I'm reading about python-rospkg and I found that this package is installed in /usr. You only have to type "export PYTHONPATH=$PYTHONPATH:/usr/lib/python2.7/dist-packages" and this line will be add in your .bashrc file. In my case, that was the solution that fix the error.

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