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Because The Cartographer packages does not support catkin make, you are supposed to use catkin_make_isolated and install some dependencies. The detailed installation instructions are already uploaded in section SLAM in TurtleBot3 Wiki
I copy and paste it below
$ sudo apt-get install ninja-build libceres-dev libprotobuf-dev protobuf-compiler libprotoc-dev
$ cd ~/catkin_ws/src
$ git clone https://github.com/googlecartographer/cartographer.git
$ git clone https://github.com/googlecartographer/cartographer_ros.git
$ cd ~/catkin_ws
$ src/cartographer/scripts/install_proto3.sh
$ rm -rf protobuf/
$ rosdep install --from-paths src --ignore-src -r -y --os=ubuntu:xenial
$ catkin_make_isolated --install --use-ninja
$ source ~/catkin_ws/install_isolated/setup.bash
$ roslaunch turtlebot3_slam turtlebot3_slam.launch slam_methods:=cartographer
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