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This sort of question has been asked and answered many times. There are a few basic possibilities:

You've installed pr2_teleop from source, and it hasn't been built
You've installed pr2_teleop from debs, and there's a bug in the install command.

In this case, it looks like the second option is the case. I've reported this as a bug: https://github.com/PR2/pr2_apps/issues/14

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