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I think your workspace is not overlaying the ROS install correctly. To fix this, I propose doing the following:

  1. cd ~/catkin_ws
  2. rm -rf build/ devel/
  3. source /opt/ros/kinetic/setup.bash (replace "kinetic" with the ROS version that you are using)
  4. (while in catkin_ws/) catkin_make
  5. source devel/setup.bash

I think that you forgot step 3 before you evoked catkin_make for your workspace. In that case, the search path does not include the installed ROS packages.