刚开始学TF变换遇到的问题,希望大神指导

我按照ROS开发实践上的步骤运行乌龟例程后
输入:$ rosrun tf tf_echo turtle1 turtle2
输出:[rosrun] Couldn't find executable named tf_echo below /home/patrick/src/geometry/tf
输入:$ rosrun rviz rviz -d `rospack find turtle_tf` /rviz/turtle_rviz.rviz
输出:[rosrun] Couldn't find executable named rviz below /home/patrick/src/rviz
[rosrun] Found the following, but they're either not files,
[rosrun] or not executable:
[rosrun]   /home/patrick/src/rviz
[rosrun]   /home/patrick/src/rviz/src/rviz
[rosrun]   /home/patrick/src/rviz/src/python_bindings/rviz
请问这是什么原因?
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