Not sure if I can give a definitive answer. It probably depends on both the SQL Developer and Oracle DB versions in use. And based on the error message, I would guess your SQL Developer version is not current. Unless you require it to access an older DB version like 8i, my recommendation would be to upgrade.
Assuming a 10g or 11g DB with any 2.x or 3.x release of SQL Developer, having SELECT_CATALOG_ROLE should be sufficient. For an older DB release, I would just be guessing, but the 9i DB doc for Autotrace in SQL*Plus is here: