Can I run sudo commands without specifying absolute path?

Issue

• Can I run sudo commands without specifying absolute path?
• While running custom commands and scripts via sudo using relative path, command fails with following error:

       [root@localhost ~]# sudo my_test_cmd -l
       sudo: my_test_cmd: command not found

• Same command works correctly with absolute path of command/script:

      [root@localhost ~]# sudo /opt/custom_application/my_test_cmd -l
      Custom_Application started Successfully.