Can I run sudo commands without specifying absolute path? - Red Hat Customer Portal

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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.

Environment

Red Hat Enterprise Linux 5
Red Hat Enterprise Linux 6
Red Hat Enterprise Linux 7

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