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pengjiawei answer will help you get it up and running.

However, since you are a beginner I would like to give you a couple of pieces of advice so that you avoid mistakes like this in the future.

• As stated in the tutorial you should source your setup.bash because it gives you access to ROS commands (as stated in the tutorial). Also, you should do that in every new terminal you open, unless you put the command in .bashrc. You can find more about it here and more about source command here.
• Furthermore, I think it is a good practice to have a ROS folder in your home folder and, inside it, catkin workspaces you are working on. That way, you would have all your catkin workspaces in ROS folder and in every workspace you would have some ROS packages related to that workspace.

If you have any further question, feel free to ask.