sudo apt-get install ros-melodic-navigation
sudo apt-get install ros-melodic-open-kart
sudo apt-get install ros-melodic-slam-kart
cd catkin_ws/src
git clone https://github.com/ros-perception/openslam_gmapping.git
git clone https://github.com/ros-perception/slam_gmapping.git
cd ..
catkin_make