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UPDATE @gvdhoorn

Shouldn't rospkg and the other modules have been installed automatically during installation of desktop-full?

It should be. So something is wrong with the OP's environment. rospkg seems to be depended by some core packages on my Ubuntu 14.04.

$ apt-cache rdepends python-rospkg
python-rospkg
Reverse Depends:
  ros-indigo-rqt-web
  ros-indigo-rqt-topic
  ros-indigo-rqt-tf-tree
  ros-indigo-rqt-shell
  ros-indigo-rqt-service-caller
  ros-indigo-rqt-runtime-monitor
  ros-indigo-rqt-robot-steering
  ros-indigo-rqt-robot-monitor
  ros-indigo-rqt-py-console
  ros-indigo-rqt-publisher
  ros-indigo-rqt-pose-view
  ros-indigo-rqt-plot
  ros-indigo-rqt-msg
  ros-indigo-rqt-logger-level
  ros-indigo-rqt-graph
  ros-indigo-rqt-dep
  ros-indigo-rqt-console
  ros-indigo-rqt-capabilities
  ros-indigo-rqt-bhand
  ros-indigo-rqt-bag
  ros-indigo-roswtf
  ros-indigo-rosunit
  ros-indigo-rospy
  ros-indigo-rosmsg
  ros-indigo-rosmake
  ros-indigo-roslib
  ros-indigo-roslaunch
  ros-indigo-rosgraph
  ros-indigo-rosdoc-lite
  ros-indigo-roscreate
  ros-indigo-rosclean
  ros-indigo-rosbag
  ros-indigo-ros-package-web-server
  ros-indigo-rocon-remocon
  ros-indigo-rocon-qt-teleop
  ros-indigo-rocon-qt-master-info
  ros-indigo-rocon-qt-listener
  ros-indigo-rocon-qt-library
  ros-indigo-rocon-qt-app-manager
  ros-indigo-rocon-python-utils
  ros-indigo-rocon-interactions
  ros-indigo-rocon-hue
  ros-indigo-rocon-gateway-graph
  ros-indigo-rocon-app-utilities
  ros-indigo-rocon-app-manager
  ros-indigo-qt-gui-py-common
  ros-indigo-qt-gui
  ros-indigo-multi-level-map-server
  ros-indigo-lama-interfaces
  ros-indigo-industrial-robot-simulator
  ros-indigo-genjava
  ros-indigo-concert-software-farmer
  ros-indigo-concert-qt-teleop
  ros-indigo-concert-qt-service-info
  ros-indigo-concert-qt-map-annotation
  ros-indigo-concert-qt-make-a-map
  ros-indigo-concert-qt-image-stream
  ros-indigo-concert-conductor-graph
  ros-indigo-concert-admin-app
  ros-indigo-camera-info-manager-py
  python3-rospkg
  python-rospkg-modules
  python-rospkg-modules
  python-rosinstall-generator
  python-rosdep
  python-jenkins-tools
  python-roswtf
  python-roslaunch
  python-roslib
  python-rosdep
$ dpkg -p python-rospkg|grep Ver
Version: 1.1.0-1