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The vcs pull src command will end up going into each git repository and run git pull. The issue is that the source you originally cloned (from the installation tutorial) was setup to checkout a tag rather than a branch. You get the above message when you try to git pull from a tag (which cannot be changed over time, or should not at least).

In principle what you are doing is asking first for the "beta-2" version, which is frozen and never updated, and then you're asking it to update it. Ideally, it would still understand what "update" means in this case, but should it be to the latest master branches or to a newer "tagged release"?

If you want a source checkout that can be updated over time, then you should use this repo file when setting up the workspace initially:

https://github.com/ros2/ros2/blob/master/ros2.repos