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I came up with the same problem. Here is my first solution without checking this website. My error note is just the same as yours

[tutrtlemimic.launch] is neither a launch file in package [beginner_tutorials] nor is [beginner_tutorials] a launch file name
The traceback for the exception was written to the log file

so I try to edit the command, first you need go to the ~/catkin_ws/src/beginner_tutorials/launch and then type the commandroslaunch turtlemimic.launch . It works to me.

But I think what I'm missing should be source devel/setup.bash,after I go through this website. I tried it and execute the ~/catkin_ws$ roslaunch beginner_tutorials turtlemimic.launch

It works, I think we need to do source every time we made some new file or folder. Before we use roslaunch or other command.