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That message definition, along with many others, were moved (in electric) to arm_navigation_msgs, as described here: http://www.ros.org/wiki/arm_navigation. That tutorial hasn't been updated to electric. It may or may not work if you replace that header location along with changing "environment_server_right_arm" to "planning_scene_validity_server". However, you'll also have to use the planning description configuration wizard to build the necessary launch files, and then launch them.

Alternatively, you could use diamondback. You probably shouldn't be including both /opt/ros/diamondback/stacks and /opt/ros/electric/stacks in your ROS_PACKAGE_PATH--you can't generally mix and match packages from different releases.