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I'm not too familiar with the internals for catkin_prepare_release but it looks like the tool is trying to determine the remote repository from the local branch, and is unable to do so. Git has a feature called Tracking Branches (see docs

If you're new to git, your remote is likely configured as origin, you can list remotes with the command git remote -v to check each origin name and its urls.

To set up your local master branch as a tracking branch for the master branch on the origin remote, you can run the command git branch master --set-upstream-to origin/master.

That should at least get you past the current issue.