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In general, when ROS complains that it can't find a package, I would check the package path in the same terminal with

echo $ROS_PACKAGE_PATH

If it's a custom package created by yourself, it should be found within the src folder in one of the workspaces included in the path.

If the workspace the package is in is not in the package path, you have to source the workspace in the terminal you are in. To avoid sourcing everytime you create a new terminal, it's recommended to add the line source path_to_your_workspace/catkin_ws/devel/setup.bash in your ~/.bashrc file