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I encountered this problem, and the other two answers are not correct in my opinion. If you take a look at this tutortial on how to create a workspace: http://wiki.ros.org/catkin/Tutorials/create_a_workspace, you see that there is a step after calling catkin_make, that is: $ source devel/setup.bash. If you call that from within your created workspace, you'll see that roscd will take you to that workspace.

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