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The trouble you're having is that sudo doesn't forward the environment variables that are used by ROS. I suggest you try to run this program as your user instead.

All of the environment variable setup should happen automatically when you source the setup.bash for your catkin workspace. In this case, it looks like that's done by running source ~/ros/flydra-kinetic/devel/setup.bash

I took a brief look at flydra's github page, but I wasn't able to find the directions that you're following, so I'm not sure what the original intent of them was. If you can provide a link to the instructions that you're following, that would help me and anyone else reading this question understand what is supposed to be happening and maybe help you along.