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You need to build and then source your workspace before rosrun and roslaunch will be able to find files inside your packages. Follow these tutorials to understand the basics of how workspaces are created and used in ROS 1:

http://wiki.ros.org/catkin/Tutorials/create_a_workspace
http://wiki.ros.org/catkin/Tutorials/CreatingPackage
http://wiki.ros.org/catkin/Tutorials/using_a_workspace

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