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Solved my own question.

This is a PYTHONPATH issue.

I had /usr/share/pyshared in my PYTHONPATH, which shadowed /usr/lib/pymodules/python2.7 and caused the problem.

Solution: remove /usr/share/pyshared from PYTHONPATH (or put it after /usr/lib/pymodules/python2.7).

My suspicion is that ROS Fuerte put rosdep in /usr/share/pyshared, and even though I removed ROS Fuerte, the rosdep module remained and caused the problem. This is just speculation.

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