Let $A$ be a $C^*$-algebra, and let $p,q \in A$. The book I'm following(An Introduction to K-theory for $C^*$-algebra) has this notation $p+q \leq 1$.
What does this mean? I looked through the book, but it seems like I have missed where they explained this notation.
Thank you.

In a C$^*$-algebra, $a\leq b$ means that $b-a$ is positive.
As a comment/advice, the book you are reading has this as its very first paragraph:
This book is written for someone already familiar with C$^*$-algebras, with a focus on K-theory. In my personal opinion, you should get some proficiency in C$^*$-algebras first.