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The executables are not stored directly in the package directories. They are stored in a "lib" directory. Try "ls /opt/ros/$ROS_DISTRO/lib/robot_state_publisher" and the executable "robot_state_publisher" should be in there.

This is also the case in your catkin workspace. When you do "catkin_make", it doesn't place each executable in its corresponding package's directory. It places them in the "devel/lib/" folders of your catkin workspace.