It sounds like the Zumo Shield libraries were not installed properly. If you have not already done so, please download the zumo-shield libraries from its GitHub as a ZIP file and follow the installation instructions under the "Software" heading in the "Getting Started" section. If you have installed the libraries correctly and the problem persists, can you post a screenshot of the directory you have the libraries installed?
As for driving a certain distance before turning, if you want precise control of the distance traveled, you would probably need additional sensors like encoders. If accuracy is not important for you, then you could use timing to determine the approximate distance traveled. We do not have any example code for the Zumo Robot for Arduino that uses encoders.