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The documentation is a little outdated. Instead of:

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

... you should run:

./build/install/rosjava_tutorial_pubsub/bin/rosjava_tutorial_pubsub org.ros.rosjava_tutorial_pubsub.Talker

(notice the missing install/).

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