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The problem is that roscd is not aware of the existence of your catkin_ws workspace. You need to build the workspace so that catkin generates additional setup scripts, then source them so that your workspace becomes part of the environment and roscd knows about it.

In your catkin worspace directory (I assume its ~/catkin_ws from the tutorials) these commands should work:

$ catkin_make
$ . ~/catkin_ws/devel/setup.bash

After this, use the following command to check that environment was setup correctly:

$ printenv | grep ROS

The ROS_PACKAGE_PATH variable there should contain your catkin_ws.

Keep in mind that you must do this every time you open a new terminal.