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This may seem rather obvious, but just to check have you sourced the ROS packages:

echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc
source ~/.bashrc

http://wiki.ros.org/kinetic/Installation/Ubuntu

If you have sourced the ROS packages, you can try doing echo $ROS_PACKAGE_PATH in your terminal window, this should output /opt/ros/kinetic/setup.bash

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