You have got few possibilities:

• Set the PATH in the server ~/.ssh/environment (needs to be enabled by PermitUserEnvironment yes in sshd_config).
• Use full path to the binary
• As you mentioned, manually source .bashrc: prefix the command with . ~/.bashrc (or source)

It pretty much depends on the use case, which way you will go.

You have few possibilities:

• Set the PATH on the server in ~/.ssh/environment (needs to be enabled by PermitUserEnvironment yes in sshd_config).
• Use full path to the binary
• As you mentioned, manually source .bashrc: prefix the command with . ~/.bashrc (or source)

It pretty much depends on the use case, which way you will go.