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Thanks to Pomerleau, Francois for his reply on GitHub
please have a look at the node documentation on ROS: http://www.ros.org/wiki/ethzasl_icp_mapping under the section Installation. The dependency to map_msgs is also written there.
There are subdirectories from external git repositories to fetch. This is why you need to use the flag --recursive. The command to clone is:
$ git clone --recursive git://github.com/ethz-asl/ethzasl_icp_mapping.git