To help you get moving we suggest (and assume for the rest of the tutorial) that you have the Vagrant box from developer.joomlatools.com on your local machine.
After you get your vagrant box set up and running,
ssh into it
$ vagrant ssh
When inside the box, use the
joomla command line tool to create a new Joomla site
$ joomla site:create todo
After that, make sure Nooku is installed with the following line
$ composer require --working-dir=/var/www/todo nooku/nooku-framework:2.*
That's it! Those two commands have installed Joomla and the Framework, and your tutorial sandbox should be available at http://joomla.dev/todo/.
At the very least you need Joomla with Nooku Framework installed in your preferred development environment.