Below is an example powershell script for Linking your Sharepoint Group name with the RoleClaim: "link-groups.ps1"
# Determines a directory where this script is placed
$ScriptDirectory = Split-Path -Parent -Path $MyInvocation.MyCommand.Definition
# Includes common configuration
. (Join-Path $ScriptDirectory claims-authn-sso-common.ps1)
$groupName = "SharePoint Group"
$roleClaim = "NameOfRole"
$sts = Get-SPTrustedIdentityTokenIssuer $idpName
$claimPrincipal = New-SPClaimsPrincipal -ClaimValue $roleClaim -ClaimType "http://schemas.microsoft.com/ws/2008/06/identity/claims/role" -TrustedIdentityTokenIssuer $sts
$web = Get-SPWeb $webApplicationName
$user = New-SPUser -UserAlias $claimPrincipal.ToEncodedString() -Web $web $group = $web.SiteGroups[$groupName]
$group.AddUser($user)
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