After following the direction from the course, a mistake hint jumped out after I execute " ./waf board_lists".
/usr/bin/python: can't open file '/home/shaw/courseRoot/apm/ardupilot/modules/waf/waf-light': [Errno 2]
No such file or directory
Missing waf submodule. Trying to get it
Submodules OK, try running again
It is solved (temporally) after using “git submodule update --init --recursive --force”. For those who meet the same question, it may helps.