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How to solve '[rosrun] Couldn't find executable named ...'?

Ubuntu 12.04

ROS Hydro

I am a freshman to ROS, recently I create nodes according to the book ‘Learning ROS for Robotics Programing Second Edition’,

but after I execute ‘rosrun’, something strange happend:

rosrun chapter2_tutorials chap2_example1_a

It shows that:

[rosrun] Couldn't find executable named chap2_example1_a below /home/exbot/dev/catkin_ws/src/chapter2_tutorials

Actually, the executable chap2_example1_a exists in /home/dev/catkin_ws/devel/lib

I think something is wrong with the path. But I am not sure.

How to solve it? Thank you~