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I think I have went all the steps:

$ cd ~/catkin_ws/src
$ catkin_init_workspace
$ catkin_make

If you want $HOME/catkin_ws to be the root of your workspace, you need to run catkin_make in ~/catkin_ws, not in ~/catkin_ws/src.

In the steps you list, you never do cd ~/catkin_ws. So you remain in ~/catkin_ws/src, and catkin_make will create devel and build directories inside ~/catkin_ws/src.

Please do this:

rm -rf $HOME/catkin_ws/src/*
cd $HOME/catkin_ws
catkin_make

Now source ~/catkin_ws/devel/setup.bash should work.

Put new pkgs in ~/catkin_ws/src and run catkin_make again.

I think I have went all the steps:

$ cd ~/catkin_ws/src
$ catkin_init_workspace
$ catkin_make

If you want $HOME/catkin_ws~/catkin_ws to be the root of your workspace, you need to run catkin_make in ~/catkin_ws, not in ~/catkin_ws/src.

In the steps you list, you never do cd ~/catkin_ws. So you remain in ~/catkin_ws/src, and catkin_make will create devel and build directories inside ~/catkin_ws/src.

Please do this:

rm -rf $HOME/catkin_ws/src/*
cd $HOME/catkin_ws
catkin_make

Now source ~/catkin_ws/devel/setup.bash should work.

Put new pkgs in ~/catkin_ws/src and run catkin_make again.