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I am using ROS noetic on Ubuntu 20.04 which uses python3. To fix the error, in my case I had to install

sudo apt install python-is-python3

Update 06/04/2022:

When using Ubuntu 20.04, which uses python3 install python3-rospkg.


Previous (alternative) solution (not recommended anymore):

I am using ROS noetic on Ubuntu 20.04 which uses python3. To fix the error, in my case I had to install

sudo apt install python-is-python3