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Assuming that you have a catkin workspace in your home folder that is called catkin_ws, you can do:

cd ~/catkin_ws/src
git clone https://github.com/start-jsk/denso
git checkout kinetic-devel
cd ..
catkin_make

Solve compilation errors if any, and assuming you have this line source ~/catkin_ws/devel/setup.bash in your ~/.bashrc, you can use the package as you would with any other ROS package.

Good luck!

P.S. If you don't have your own catkin workspace please follow this tutorial, and then follow the steps I provided.