I followed the instructions on https://hyperledger.github.io/composer/latest/installing/development-tools.html and https://hyperledger.github.io/composer/latest/tutorials/developer-tutorial.html. After a restart of the Ubuntu server I started the fabric again and tried to ping the network:
cd ~/fabric-dev-servers
export FABRIC_VERSION=hlfv12
./startFabric.sh
$ composer network ping --card admin@tutorial-network
Error: Error trying to ping. Error: make sure the chaincode tutorial-network has been successfully instantiated and try again: getccdata composerchannel/tutorial-network responded with error: could not find chaincode with name 'tutorial-network'
Command failed