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You might need to source the setup.bash file from ~/.bash_profile to make ROS environment variables available to all the system not only to bash session. The ~/.bash_profile shell script is called only once when you log in, contrary to ~/.bashrc which is executed locally every time a new terminal window is opened.

P.S. Another useful approach to debug nodes started via launch files is to attach gdb to already running process. I am using this a lot and it is quite handy. The only problem is that you will not be able to debug any startup code, e.g. constructors, with such approach.

To use this option go to Run->Debug Configurations... and double-click on C/C++ Attach to Application. Then fill in C/C++ Application and press Debug.