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Hey, you need to setup a Catkin workspace, there are a list of tutorials for how to use, and setup catkin.

http://wiki.ros.org/catkin/Tutorials

Once you have done this, you can clone the git repo for Rplidar_ros into '~/catkin_ws/src' folder for example, and then run catkin_make from '~/catkin_ws' folder to build it.

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