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First of all: do you mean "install" that the end result should be the same as as with apt-get? I.e. slam_gmapping is installed in /opt/ros? Then I would go for the apt-get version, even though it is possible with catkin directly.

If you "just" want to have it in you workspace, I'd suggest you go through the catkin Tutorials so that you understand what actually happens. In short, the required steps are:

1. create a catkin workspace:

   mkdir -p catkin_ws/src
   cd catkin_ws/src
   source /opt/ros/<DISTRO>/setup.bash
   catkin_init_workspace
   

2. clone the repository:

   git clone https://github.com/ros-perception/slam_gmapping.git
   

3. compile the workspace

   cd ..
   catkin_make
   

4. source the workspace

   source devel/setup.bash