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In fact, I updated the pip version before. I tried to downgrade to an older pip version. But this led to an error in following this updating rospkg instructions. It seems there are different interpreter in several paths, therefore I could not use sudo pip install --upgrade pip afterwards.

Nevertheless sudo easy_install -U rospkg refering to this post solved my problem, even if it is not recommended to use easy_install for updating rospkg anymore. So it was more a a rospkg issue than a pip error.

Thanks guys!