If you don't have a rosbuild workspace, set up one with:
sudo apt-get install python-rosinstall
mkdir ~/rosbuild_ws
cd ~/rosbuild_ws
rosws init . /opt/ros/indigo
mkdir package_dir
rosws set ~/rosbuild_ws/package_dir -t .
echo "source ~/rosbuild_ws/setup.bash" >> ~/.bashrc
bash
cd package_dir
In your ROS package path, clone the repository:
git clone https://github.com/sebdi/loam_velodyne.git
Well, you have to get his rosbag file at:
https://www.dropbox.com/s/ywne8e0rih4ikuz/robot_city_bridge.bag?dl=0
Then, add the filepath in main_robot_city.cpp. You can see the visualization with
rviz -d loam_continuous.rviz