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It sounds like you were following the turtlesim and rqt tutorial. This tutorial expects you have sourced your ROS 2 installation, as described in the first tutorial. For example for Foxy on Ubuntu:

source /opt/ros/foxy/setup.bash

This command should be run in every terminal that you open when you expect to run ROS commands.

We could probably add a reminder to run this command in the new terminal before running rqt.

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