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Make sure that you have run catkin_make inside the catkin_ws directory. If you have already done that, I suspect that you have not added your catkin_ws in your bashrc. If you haven't just run the following command:

echo "source /home/pi/catkin_ws/devel/setup.bash" >> /home/pi/.bashrc

Then close all terminals or run (on each open terminal):

source /home/pi/.bashrc

Make sure that you have run catkin_make inside the catkin_ws directory. If you have already done that, I suspect that you have not added your catkin_ws in your bashrc. If you haven't haven't, just run the following command:

echo "source /home/pi/catkin_ws/devel/setup.bash" >> /home/pi/.bashrc

Then close all terminals or run (on each open terminal):

source /home/pi/.bashrc