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Thank you. it worked. Mistakes i did is i haven't used " $ source ~/catkin_ws/devel/setup.bash " command in all three shells ( i.e, in master shell , talker shell and listener shell ). It's must to run setup.bash each and every time?? there is no auto run option??

Now i am getting an error called " Executable are not found " . Found solution in ROS forum. I have to go through the forum to clear the error " executable are not found ".