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The problem is that

z1huo@z1huo-ThinkPad-P51:~$ catkin_create_pkg using_markers roscpp visualization_msgs

was executed from your home directory rather than in the source space ('src' directory) of your workspace. Therefore, it can't be found by catkin_make. It's easy to miss (and misunderstand), but in the tutorial that you linked to it tells you (my emphasis added)

Before getting started, let's create a package called using_markers, somewhere in your package path:

catkin_create_pkg using_markers roscpp visualization_msgs

This basically means to run that command from the src directory of a catkin workspace. Now, try the same command, but from your src directory just as follows

z1huo@z1huo-ThinkPad-P51:~/catkin_ws/src$ catkin_create_pkg using_markers roscpp visualization_msgs

The problem is that

z1huo@z1huo-ThinkPad-P51:~$ catkin_create_pkg using_markers roscpp visualization_msgs

was executed from your home directory rather than in the source space ('src' (src directory) of your workspace. Therefore, it can't be found by catkin_make. It's easy to miss (and misunderstand), but in the tutorial that you linked to it tells you (my emphasis added)

Before getting started, let's create a package called using_markers, somewhere in your package path:

catkin_create_pkg using_markers roscpp visualization_msgs

This basically means to run that command from the src directory of a catkin workspace. Now, try the same command, but from your src directory just as follows

z1huo@z1huo-ThinkPad-P51:~/catkin_ws/src$ catkin_create_pkg using_markers roscpp visualization_msgs

The problem is that

z1huo@z1huo-ThinkPad-P51:~$ catkin_create_pkg using_markers roscpp visualization_msgs

was executed from your home directory rather than in the source space (src directory) of your workspace. Therefore, it can't be found by catkin_make. It's easy to miss (and misunderstand), but in the tutorial that you linked to it tells you (my emphasis added)

Before getting started, let's create a package called using_markers, somewhere in your package path:

catkin_create_pkg using_markers roscpp visualization_msgs

This basically means to run that command from the src directory of a catkin workspace. Now, try the same command, but from your src directory just as follows

z1huo@z1huo-ThinkPad-P51:~/catkin_ws/src$ catkin_create_pkg using_markers roscpp visualization_msgs

These are pretty basic concepts (that you need to put packages in the src directory and compile from the root of your workspace), so I suggest that you go through the tutorials on the wiki until these concepts are really driven in.