You should have the following built and on your ROS_PACKAGE_PATH:

1. amrl_msgs
2. amrl_maps
3. zed_wrapper
4. ouster_ros
5. pointcloud_to_laserscan
6. ros actions: use catkin_make to create

1. Clone this repository
2. Add it to your ROS_PACKAGE_PATH in .bashrc
3. Run setup.sh to install dependencies

1. Run start_all.sh (which launches start_all.launch) to launch all the nodes