Make should you have installed the JRDB at https://jrdb.erc.monash.edu/ and pasted to data folder with the following structure:

├── data
│   ├── 2011_09_26
│   │   └── 2011_09_26_drive_0001_sync
│   └── train_dataset_with_activity
│       ├── calibration
│       │   └── indi2stitch_mappings
│       ├── detections
│       │   ├── detections_2d
│       │   ├── detections_2d_stitched
│       │   └── detections_3d
│       ├── images
│       ├── labels
│       └── pointclouds
│           ├── lower_velodyne 
│           └── upper_velodyne
└── src

Then clone this repo to src folder and run

colcon build 

to build the model.

Make sure you source the workspace with

source install/setup.bash

Finally, launch the package with

ros2 launch jrdb_publishers visualize.launch.py