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I think this has to do with a conflict between the python module 'em' and 'empy' both of which use the same name.

If you have 'em' installed, it seems to supersede 'empy' which is what is needed by ROS.

See this link for details

I ended up compiling from source before I figured this out. To resolve it on my self-compiled kinetic, I did:

pip uninstall em
pip install empy

And it seems to have fixed the problem. Kind of a frustrating error as the apt-get install covered in the tutorial doesn't automatically detect this conflict.