Falling short on your first AG seems to be a common occurance, and I fell short on my first AG by about the same amount as you. I think the grains absorb more than the mythical 1 litre/kg, IMHO closer to 1.5 litres/kg.
Did you allow for dead space in your mash/lauter tun in your calculations? I suggest a test run in your tun to see how much liquid is left behind when you drain it. You need to add this back into your calculations.
I also suggest you work out where in your kettle you reach your desired volume. I have a copper pipe, marked with my dremel, in 1 litre increments. However, I can wing it in my kettle, as the rivets from the handles give me an exact 30 litre reference point.
Depending on the intensity of your boil, you may have boiled off more than you anticipated.
How much did you lose to trub in the bottom of your kettle? That could be as much as 2 litres. Again, you need to allow for that in your calculations.
IBU = International Bittering Units. I recommend you get a program, such as BeerSmith or Promash, which calculates your predicted IBU's based on the recipe you are designing, and your anticipated volumes. If you have collected significantly less volume than you anticipated, but used your planned quantity of hops, you are likely to end up with a rather bitter beer, and you need to reduce the amount of hops used.
Good luck with your next one, you'll get on top of all these issues as you continue, but I suggest you keep notes of what you did, so you can fine tune your processes.