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Ahhh... I figured out what I was doing wrong. I had initially gone deeper into the documentation (as suggested) here:

The process it explains was causing my failure:

$ mkdir -p ~/catkin_ws/src $ rosws init --catkin ~/catkin_ws/src /opt/ros/groovy $ cd ~/catkin_ws $ catkin_init_workspace $ catkin_make $ source ~/catkin_ws/devel/setup.bash

Even if I ensure /opt/ros/groovy/setup.bash was installed previously.

To get back on track in the tutorial, I deleted the ~/catkin_ws directory, re-sourced /opt/ros/groovy/setup.bash and just did the basic tutorial steps of: $ mkdir -p ~/catkin_ws/src $ cd ~/catkin_ws $ catkin_make $ source devel/setup.bash