Failed to run sketch examples in SITL

I followed the ardupilot wiki for running examples in SITL https://ardupilot.org/dev/docs/learning-ardupilot-the-example-sketches.html, but when I run ./build/sitl/examples/RCProtocolDecoder -M quad -C, I got the following message in the terminal:
Starting sketch ‘UNKNOWN’
Starting SITL input
/dev/serial/by-id/usb-FTDI_FT232R_USB_UART_A10596TP-if00-port0: No such file or directory
Where I get wrong?