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First, make sure that you have sourced the workspace, i.e.

source %TOP_DIR_YOUR_CATKIN_WS%/devel/setup.bash

Second, check that you have created package in a right directory, i.e. %TOP_DIR_YOUR_CATKIN_WS%/src. I think there may be a mistake in tutorial, since it telling you to change to %TOP_DIR_YOUR_CATKIN_WS%.

Finally, if these are correct, and your package is within %TOP_DIR_YOUR_CATKIN_WS%/src, but you still cannot change to it with roscd robot_setup_tf, then do rospack profile and try again.

If you followed beginner tutorials then %TOP_DIR_YOUR_CATKIN_WS% will be ~/catkin_ws.

Hope it helps.