execute following commands:

sudo apt-get install ros-kinetic-gmapping

sudo apt-get install ros-kinetic-navigation

sudo apt-get install ros-kinetic-hector-slam

sudo apt-get install ros-kinetic-tf2-sensor-msgs

sudo apt-get install ros-kinetic-openni-camera

sudo apt-get install ros-kinetic-openni-launch

sudo apt-get install libopenni-sensor-primesense0

sudo apt-get install ros-kinetic-audio-common

sudo apt-get install libasound2

sudo apt-get install gstreamer0.10-*

sudo apt-get install python-gst0.10