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This looked like excellent advice from @gvdhorn:

"As always when checking why pkgs can't be found / appear not to be installed:"

  • pay attention to the output of apt-get: did it indicate successful installation?
  • what is the output of dpkg -l | grep turtlebot?
  • run rospack profile, then rospack find turtlebot_gazebo: does that work?

In the end these techniques didn't get to the bottom of it, but something must have been wrong with my installation or environment and sadly I had to uninstall and reinstall ROS. I wonder whether this is not an unusual situation because I do try to be quite careful when installing things.