[rospack] Error: the rosdep view is empty: call 'sudo rosdep init' and 'rosdep update' after Building a catkin workspace and sourcing the setup file

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while walking through creating Package tutorials and using the catkin_create_pkg script to create a new package called 'beginner_tutorials' which depends on std_msgs, roscpp, and rospy

$ catkin_create_pkg beginner_tutorials std_msgs rospy roscpp

then Building a catkin workspace and sourcing the setup file

$ cd ~/catkin_ws
$ catkin_make
$ . ~/catkin_ws/devel/setup.bash

while reviewing package dependencies with the rospack tool

$ rospack depends1 beginner_tutorials

the following rspack error was appeared

[rospack] Error: the rosdep view is empty: call 'sudo rosdep init' and 'rosdep update'