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When you set up this tutorial, you should have created a catkin_ws/src
directory, then used git to clone turtlebot3_navigation
inside of the src
dir. That is the turtlebot3_navigation
directory the book is referring to.
You don't say what OS you're using, but on Ubuntu it is common to put it at:
$HOME/catkin_ws/src/turtlebot3_navigation