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Since it seems like you are using rosbuild and not catkin to build your packages, if you check out the rosbuild version of rospy Publisher and Subscriber tutorial, you'll notice that the Python scripts start with two lines that look like

import roslib; roslib.load_manifest('beginner_tutorials')
import rospy

It looks to me like your test script is just missing these lines. If your manifest.xml is correct, you should just need to convert 'beginner_tutorials' to your package name.