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 <node name="map_server" pkg="map_server" type="map_server" args="$(find catkin_ws)/map.pgm map_resolution"/>

the problem is in this line in your launch file: you are asking roslaunch to search for a package called catkin_ws, which it can't find. Hence the ResourceNotFound exception.

You can only ask roslaunch to look for packages, not directories, and if you look at the launch file example given in the tutorial you linked, you'll see that is exactly what they do:

  <node name="map_server" pkg="map_server" type="map_server" args="$(find my_map_package)/my_map.pgm my_map_resolution"/>

Notice the $(find my_map_package).