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This could be happening for a few reasons (I know some of these are obvious, I'm just going through the list of things I try to verify when debugging such a problem):

1. Have you sourced the devel/setup.bash from your workspace into your current shell ? Otherwise, roslaunch won't know where to look to find the beginner_tutorials files, including turtlemimic.launch you can verify that your current shell knows about the beginner_tutorials location by running rospack list | grep beginner_tutorials and verifying that your package directory shows up in the location you expect.
2. Is the file named exactly turtlemimic.launch, and is it somewhere in the beginner_tutorials directory tree? Note that if it is somewhere in the workspace (e.g., the workspace root) rather than in the src/beginner_tutorials directory tree, roslaunch will not be able to find it.
3. Make sure the launch file is valid XML that starts with a launch tag.