If it's what I think you're describing, it's called 'welt', or sometimes 'piping', and is carried by canvas and fabric stores. It's available in different diameters, and is usually sewn into the edge(s) of canvas. On upholstery, it's used to define or decorate the edge of a seat cushion. On awnings and boat canvas, it's used to slide into a track to attach them to an RV or boat.
The welt we see/use is usually solid rather than a 'tube'. This may or may not be what you're looking for.