Add wordpress recent posts from same category to single post page with infinite scroll

wp-recent-post.php

<?php 
$categories = get_the_category();
$category_id = $categories[0]->cat_ID;
query_posts( 'cat='.$category_id );
if ( have_posts() ) : while ( have_posts() ) : the_post(); ?>
<!-- You can use your loop content here, i have used roots wordpress theme -->
<?php get_template_part('templates/content', get_post_format()); ?>
<?php endwhile; else: ?>
<!-- DO SOMETHING IF NOTHING WAS FOUND -->
<?php endif; ?>
<!-- Here i have used roots navigation, if you use wordpress default navigation copy it from index page  -->
<?php if ($wp_query->max_num_pages > 1) : ?>
  <nav class="post-nav">
    <ul class="pager">
      <li class="previous"><?php next_posts_link(__('&larr; Older posts', 'roots')); ?></li>
      <li class="next"><?php previous_posts_link(__('Newer posts &rarr;', 'roots')); ?></li>
    </ul>
  </nav>
<?php endif; ?>
<?php wp_reset_query(); ?>