To use CoreSLAM, you need a mobile robot that provides odometry data and is equipped with a horizontally-mounted, fixed, laser range-finder. The slam_coreslam node will attempt to transform each incoming scan into the odom (odometry) tf frame. See the "Required tf transforms" for more on required transforms.
To make a map from a robot with a laser publishing scans on the base_scan topic:
rosrun coreslam slam_coreslam scan:=base_scan