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The ROS package slam_gmappingdepends on another package openslam_gmapping. As of this writing, if you are on melodic distro, you need to install these packages from source since they are not released into melodic yet. For ROS packages installing from source implies cloning their repositories in the src directory of your workspace.

cd your_work_space/src
git clone https://github.com/ros-perception/slam_gmapping.git
git clone https://github.com/ros-perception/openslam_gmapping.git

# [comment] navigate back to your_work_space directory
cd ..

Next, Install missing dependencies if any:

rosdep install --from-paths src --ignore-src

Next: Build your project

catkin_make