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From the paper's wiki page, section 5:

Please note, that the code presented below was tested on Ubuntu 9.10 and apparently does not work anymore under newer Ubuntu versions (because of some of the outdated ROS packages). If you are interested in using NARFs, they are implemented in the Point Cloud Library (PCL): http://www.pointclouds.org and the tutorials on ros.org: http://www.ros.org/wiki/pcl/Tutorials

It seems unlikely that you'll be able to get it running with Electric or Unstable on a current version of Ubuntu. Your best bet it to do as the wiki page suggests and use the NARF implementation in PCL.