Is your LaunchPad connected to any external hardware? What are the position of the DIP switches in S1 - are they oriented towards or away from the MCU? Can you program the device if it’s only connected to your computer? Do you have a second LaunchPad you can use for testing?
TI has a debugging section on their website related to this error that describes other reasons you may see this error and potential resolutions: https://software-dl.ti.com/ccs/esd/documents/ccs_debugging_jtag_connectivity_issues.html#device-is-held-in-reset