When this error message is printed, it is accompanied by a link to the Troubleshooting section. What steps have you tried there? With what results?Typical errors are not selecting the right board and/or the right port, in the Tools menu.The code does not get loaded on the shield. Are you able to upload code to the Arduino without the shield attached?
When I get this kind of avrdude errors I always check if I selected the right board and comport under the tools menu. If OK then I disconnect the Arduino for 5 seconds so the OS can refresh its internal administration..