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First, install all dependencies:

sudo apt install libxcb1-dev libxcb-keysyms1-dev libpango1.0-dev libxcb-util0-dev libxcb-icccm4-dev libyajl-dev libstartup-notification0-dev libxcb-randr0-dev libev-dev libxcb-cursor-dev libxcb-xinerama0-dev libxcb-xkb-dev libxkbcommon-dev libxkbcommon-x11-dev autoconf libtool i3

Install xcb-util-rm:

cd /tmp
git clone https://github.com/Airblader/xcb-util-xrm
cd xcb-util-xrm
git submodule update --init
./autogen.sh --prefix=/usr
make
sudo make install

Finally, install i3-gaps:

cd /some/directory
git clone https://www.github.com/Airblader/i3 i3-gaps
cd i3-gaps
rm -rf build
mkdir build
cd build
../configure --prefix=/usr --sysconfdir=/etc
make
sudo make install