First create a ROS workspace to work from and clone the repo:
mkdir -p ~/rviz_ws/src && cd ~/rviz_ws/src
git clone https://github.com/acauligi/bee_viz.git
Next initialize your workspace
cd ~/rviz_ws && catkin init
Copy over the scp directory from the Astrobee repo and place it in the rviz_ws workspace. In CMakeLists.txt, set the NASA option to OFF.
Next build the project:
catkin_make && source devel/setup.bash
Finally, to run the project:
source ~/rviz_ws/devel/setup.bash
roslaunch bee_viz ff_visualizer.launch