Unable to compile package due to missing dependency

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I'm trying to follow this tutorial, but after creating my workspace and creating my initial MYROBOT_description package, when I run catkin_make, I get this error:

CMake Error at /opt/ros/indigo/share/catkin/cmake/catkinConfig.cmake:75 (find_package):
  Could not find a package configuration file provided by
  "robot_state_publisher" with any of the following names:

    robot_state_publisherConfig.cmake
    robot_state_publisher-config.cmake

  Add the installation prefix of "robot_state_publisher" to CMAKE_PREFIX_PATH
  or set "robot_state_publisher_DIR" to a directory containing one of the
  above files.  If "robot_state_publisher" provides a separate development
  package or SDK, be sure it has been installed.
Call Stack (most recent call first):
  myrobot/myrobot_description/CMakeLists.txt:7 (find_package)

Obviously, it can't find the "robot_state_publisher" my *_description package depends on, but I'm not sure why. I followed all the steps and made sure to add these lines to my ~/.bash_aliases:

source /opt/ros/indigo/setup.bash
source ~/workspace/myrobot/devel/setup.bash

What am I doing wrong?

I'm building with Indigo on Ubuntu 14.04.