Clone this repo in your src folder with the following command so as to also clone all the required submodules:
git clone --recursive https://github.com/rigbetellabs/tortoisebot.git
Required Dependences:
sudo apt-get install ros-melodic-joy ros-melodic-teleop-twist-joy ros-melodic-teleop-twist-keyboard ros-melodic-amcl ros-melodic-map-server ros-melodic-move-base ros-melodic-urdf ros-melodic-xacro ros-melodic-rqt-image-view ros-melodic-gmapping ros-melodic-navigation ros-melodic-joint-state-publisher ros-melodic-robot-state-publisher ros-melodic-slam-gmapping ros-melodic-dwa-local-planner ros-melodic-joint-state-publisher-gui ros-melodic-cartographer-ros ros-melodic-cartographer-rviz