It seems to be a permissions problem
The problem is solved after setting the folder permissions of tomcat to 777
Another option:
Download tomcat8 from the official website at first, then configure it yourself, and then configure Tomcat on IDEA without success,
prompt the select directory is not a vlid Tomcat home
Then I tried it for a while without success, and then went to stackoverflow to find a solution

sudo apt-get install tomcat8-user

tomcat8-instance-create /home/myhome/tomcat

Create a link after installation:

ln -s /usr/share/tomcat8/bin/bootstrap.jar /home/myhome/tomcat/bin/

ln -s /usr/share/tomcat8/bin/tomcat-juli.jar /home/myhome/tomcat/bin/

ln -s /usr/share/tomcat8/lib/ /home/myhome/tomcat/