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@aarsh_t is correct: you need to have built and sourced the workspace. You mention not having done this, but that's a required step: without it, the roscd command doesn't know about the packages in that workspace and therefore can't change to that directory (you also won't be able to rosrun or roslaunch on that package). Check out the wiki page for creating a workspace, which also describes how to correctly build and source your workspace.