Build

Ubuntu

 sudo apt-get install texinfo gettext elfutils libdw-dev libncurses-dev
 #  add libjson0 libjson0-dev if missing 
 git clone https://github.com/larytet/SystemTap.git
 cd SystemTap
 PKG_CONFIG=/usr/bin/pkg-config ./configure --prefix=<path to install folder>
 make
 make install

CentOS

 # Install SCL environment
yum -y install rpm-build git  zlib zlib-devel libjpeg libjpeg-devel zlib zlib-devel libjpeg libjpeg-devel wget which tar scl-utils centos-release-scl  
# Install GCC toolchain 5.3  
yum -y install devtoolset-4-gcc* python27 python27-python-devel.x86_64
scl enable devtoolset-4 bash                                                                                  

source /opt/rh/python27/enable                                                                          
# Make sure that python exists 
python --version
g++ --version
git clone https://github.com/larytet/SystemTap.git
cd SystemTap
PKG_CONFIG=/usr/bin/pkg-config ./configure --prefix=$HOME/systemtap-3.1     
make
make install

Recent version

sudo apt-get install texinfo gettext elfutils libdw-dev libjson0 libjson0-dev libncurses-dev automake 

autoconf flex zlib-gst zlib1g-dev bison

# Get the correct version of elfutils
git clone git://sourceware.org/git/elfutils.git
cd elfutils && autoconf && cd ..
git clone git://sourceware.org/git/systemtap.git
# or https://sourceware.org/systemtap/ftp/releases/
cd systemtap
./configure --with-elfutils=../elfutils  --prefix=/tmp/systemtap-3.2 && make && make install

Try it

 stap -p4 -v -k -m simple simple_probe.stp