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Hi David!

1) Whenever you open a new terminal you have to run the command:

source ~/catkin_ws/devel/setup.bash

so the current shell knows the address to your catkin_ws. Doing that everytime you open a new shell can be (IT IS) boring. The workaround is adding the forementioned line in the very end of your ~/.bashrc file, as suggested by the ROS tutorial.

1) I believe the roscd command works with packages, not workspaces. Then, let's say you created a package named "tutorial" in ~/catkin_ws/src/ (see the command catkin_create_pkg for package creation), the roscd command would work this way:

~$: roscd tutorial

Hope that helps!

Rômulo