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The problem is not with tf, but with this:

IOError: [Errno 13] Permission denied: '/home/rnd424/.ros/rosdep/sources.cache/index'

it is likely you've run rosdep update with sudo some time in the past, which makes that directory (and the files in it) owned by root, not by your own user (probably: rnd424).

You should be able to fix it with:

sudo rosdep fix-permissions

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