sudo apt-get install libqt4-dev ros-indigo-openni-launch ros-indigo-openni2-launch ros-indigo-freenect-launch ros-indigo-costmap-2d ros-indigo-octomap-ros ros-indigo-rviz ros-indigo-cv-bridge libdc1394-22-dev libpcl-1.7-all-dev  libsuitesparse-dev qt4-qmake libqglviewer-dev
cd ~
git clone https://github.com/RainerKuemmerle/g2o.git
mkdir g2o/build
cd g2o/build/
cmake ../
make
sudo make install
cd ~
git clone https://github.com/introlab/rtabmap.git rtabmap
cd rtabmap/build
cmake ..
make -j4
sudo make install
cd ~/catkin_ws
git clone https://github.com/ros-planning/navigation_msgs.git src/navigation_msgs
git clone https://github.com/introlab/rtabmap_ros.git src/rtabmap_ros
catkin_make