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Possibly, it is related with your workspace and package path. Please make sure that you sourced the bash file, i.e; source /home/<username>/catkin_ws/devel/setup.bash

If so, your package setup may be the problem. Your package should be listed when you run rospack find beginner_tutorials .

If these are not related, please supply more details like directory tree of your workspace and contents of package.xml file.

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