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Just clarifying (as I understand it) which part of the answer solved the problem. The tutorial linked by boris reminds the user to source the devel/setup.bash file when using a Catkin workspace. Unless you add that particular command to your .bashrc file, you will have to source setup.bash in EVERY terminal. If you are in the root of your workspace, just enter source devel/setup.bash. I always forget to do this when I open a new terminal for the first time.