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Have you remembered to first run source /path/to/your/catkin_ws/devel/setup.bash (Examining the Simple Publisher and Subscriber - Running the Publisher)?

Have you remembered to first run source /path/to/your/catkin_ws/devel/setup.bash (Examining the Simple Publisher and Subscriber - Running the Publisher)?)? Excerpt from that page:

[..] If you are using catkin, make sure you have sourced your workspace's setup.sh file after calling catkin_make but before trying to use your applications:

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