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So, if the "source ~/catkin_ws/devel/setup.bash" worked, that's because you didn't add it to your .bashrc file.
The ~/.bashrc file is "sourced" every time you open a new terminal. If you prefer, you can execute "source ~/catkin_ws/devel/setup.bash" for each terminal. But if you want to save some time, just write this command at the end of this .bashrc file.
Take a look again in the installation page, you'll see an explanation about this.
It's the Environment Setup section. http://wiki.ros.org/kinetic/Installation/Ubuntu#kinetic.2BAC8-Installation.2BAC8-DebEnvironment.Environment_setup
Hope it can help you!
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