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If you want to avoid having to manually source your workspace you can add the line to your .bashrc file.

source <path to my workspace>/devel/setup.bash

Then this will automatically be executed every time you open a new terminal. As gvdhoorn has said, there is no reason you should have to re-catkin_make your workspace in every terminal. Try adding this line to your .bashrc file and let us know if this doesn't solve your problem.