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You should take a look at the catkin tutorials. You need to source your workspace.

I'm assuming that you compiled your workspace using

catkin_make

from the root of your workspace (e.g., ~/catkin_ws).

Anytime that you open a new terminal, you need to source two files: the setup.bash for your ROS distribution and the setup.bash for your workspace. It looks like you've already sourced your distribution's setup.bash, now you just need to do the same for your workspace. Again, assuming that the root of your workspace is at ~/catkin_ws and you are in that directory, then you run

source devel/setup.bash

and then ROS should be able to find your compiled gmapping package and the node(s) that you're using.

You should take a look at the catkin tutorials. You need to source your workspace.

I'm assuming that you compiled your workspace using

catkin_make

from the root of your workspace (e.g., ~/catkin_ws).

Anytime that you open a new terminal, you need to source two files: the setup.bash for your ROS distribution and the setup.bash for your workspace. It looks like you've already sourced your distribution's setup.bash, now you just need to do the same for your workspace. Again, assuming that the root of your workspace is at ~/catkin_ws and you are in that directory, then you run

source devel/setup.bash

and then ROS should be able to find your compiled gmapping package and the node(s) that you're using.using. Now your ROS_PACKAGE_PATH environment variable should be set. I've never had to set this on my own.