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If you were using released distro I would say use rosdep install beginner_tutorials with the package on your path. However you're using what we call the Upstream Packages which follow slightly different conventions than standard ROS packages.
rosdep was designed to install the dependencies of a source checkout on your path. It itself is not designed to "install" a specific package.
For the upstream packages I did an apt-cache search roslib and apt-cache search rosbuild and found you can also likely just install the package sudo apt-get install python3-roslib rosbuild
However I would strongly recommend that for the best user experience you consider learning to use ROS on one of our officially supported platforms. ROS 1 Supported Platforms and ROS 2 supported platforms
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