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Your error message does not include a listing of the entries in the ROS_PACKAGE_PATH (normally these would be ROS path [0], ROS path [1], etc). Presumably this means that your ROS_PACKAGE_PATH is not set at all.

It looks like you need to source the setup.bash or setup.sh for your workspace, which will set up your ROS_PACKAGE_PATH and the other environment variables that ROS needs.