1. This package has been tested well in Ubuntu 16.04 with ROS Kinetic.

2. Install Eigen3 and CXSparse 
    $ sudo apt-get install libeigen3-dev libsuitesparse-dev

3. Clone and build open-karto package
    $ cd ~/catkin_ws/src/
    $ git clone https://github.com/ros-perception/open_karto.git
    $ cd ..
    $ catkin_make

4. Clone and build this package
    $ cd ~/catkin_ws/src/
    $ git clone https://github.com/nkuwenjian/slam_karto.git
    $ cd ..
    $ catkin_make

5. Run offline rosbag
    $ source ~/catkin_ws/devel/setup.bash
    $ roslaunch slam_karto karto_slam.launch
    $ rosbag play <rosbagfile> --clock