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Some new thoughts here: I'm guessing in the tutorial the "ros_pkg_tutorials" just means some working directory. I can use another name as I want. For instance, I create the folder ~/tutorials/workspace and append that to ROS_PACKAGE_PATH. Then I'll cd to that folder and create the "learning_tf" package. Is it correct?

This is what you should do. Use the path created before and execute roscreate-pkg there.