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after you run catkin_make command, you need to source the devel folder. Then the roslaunch command will be able to find the turtlebot3_gazebo package. (I see that this is not mentioned in the website you are following

$source ~/catkin_ws/devel/setup.bash

references: 1.http://wiki.ros.org/ROS/Tutorials

2.I think this is the official manual for turtlebot3: https://emanual.robotis.com/docs/en/platform/turtlebot3/pc_setup/

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