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Solved the issue by another complete removal and re-installation of ROS:

  • sudo apt-get purge ros-*
  • sudo apt-get autoremove
  • deleted catkin_ws
  • deleted .ros-folder in home

Then, reboot and reinstall according to the tutorials. Now all the catkin_*-variables are set and the compilation runs nicely without any errors. Thx for the hints and tips @gvdhoorn, really appreciate it!