Why can't roslaunch or rosrun find my executable?

edit

Have you sourced the install space of your workspace before trying to launch the node? In general it should be working exactly as you want it to: No manual moving of files required.

PS: When you say "I've got it building and putting a binary in catkin_ws/install/lib/PROJECTNAME/ ", you are not moving that binary manualy, but with catkin_make install, right?

Edit: There are two different things. For one, you need source /opt/ros/hydro/setup.bash before building your workspace with catkin_make. You do that in your .bashrc and that is ok.

After you built your package, you need to source the install or devel space of your workspace in order to use it. It is best that you have two terminal. One to build, and one to rosrun/roslaunch.

So after building your package, open a new terminal and execute source catkin_ws/install/setup.bash. Now in this terminal, rosrun/roslaunch should be able to find the node you compiled.

PS2: It is best to update your question with more details (use the "edit" function) rather than posting answers that do not actually answer your question.