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I also ran into the same problem and think there is an error in the tutorial. To execute the example, I had to change:

./build/rosjava_tutorial_pubsub/bin/rosjava_tutorial_pubsub org.ros.rosjava_tutorial_pubsub.Talker & ./build/rosjava_tutorial_pubsub/bin/rosjava_tutorial_pubsub org.ros.rosjava_tutorial_pubsub.Listener

to:

./build/install/rosjava_tutorial_pubsub/bin/rosjava_tutorial_pubsub org.ros.sjava_tutorial_pubsub.Talker & ./build/install/rosjava_tutorial_pubsub/bin/rosjava_tutorial_pubsub org.ros.sjava_tutorial_pubsub.Listener

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