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As @skander_hannachi said, you need to source setup.bash of your workspace.

source ~/catkin_ws/devel/setup.bash

You don't need to always run Python nodes using rosrun. If you are in the same directory of the executable you can use

./patrolling.py

just like any other Python script. rosrun makes it very convenient to run your nodes from any directory (as long as you have your environment variables set properly), but it is not absolutely necessary (for Python).