I found the issue when I followed https://flutter.dev/docs/get-started/web for Flutter Web App setup.

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$ flutter run -d chrome
No devices found with name or id matching 'chrome'

When I check the device list, only Web Server is available.

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$ flutter devices
1 connected device:

Web Server • web-server • web-javascript • Flutter Tools

By googling the error message, some people say it could because wrong flutter branch was used. I checked the documentation again, it does say beta, not the problem.

Out of nowhere, I just realized that I don’t have Chrome installed in my fresh Ubuntu. If it says the Web Server is ready, why can’t I just use the Web Server directly?

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$ flutter run
Downloading Web SDK...                                              1.7s
Launching lib/main.dart on Web Server in debug mode...
Building application for the web...                                15.5s
lib/main.dart is being served at http://localhost:33077/

Warning: Flutter's support for web development is not stable yet and hasn't
been thoroughly tested in production environments.
For more information see https://flutter.dev/web

🔥  To hot restart changes while running, press "r". To hot restart (and refresh the browser), press "R".
For a more detailed help message, press "h". To quit, press "q".

From the console output http://localhost:33077/, open it with any web browser you have.

Tada, it works.