I followed the tutorial of Phonegap from the official Phonegap.com site (getting started with Android).
I have created project with following all the steps.
It is config.xml not configs.xml.
config.xml
configs.xml
Based on the logs I'm seeing you are missing this file in your apps res/xml directory. It is included as part of the distribution at lib/android/res/xml/config.xml so copy that file into your res/xml directory and you should be all set.
res/xml
lib/android/res/xml/config.xml