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Please always copy-paste the exact commands you were using. It's always hard to guess what you did just from the error messages.

It looks like you called rosmake points_and_lines.cpp. This is not how it works. You need to create a ros package, copy your source file into it, edit CMakeLists.txt and create a binary target and rosmake your package. Have a look at this and this tutorial.

Btw. for just visualizing laser or point-cloud data, you don't need to program anything. RViz already has plugins for doing visualizing this data.