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The text you quote actually contains a link to the file that the author wants you to download:

Download the file tiago_public.rosinstall. Copy the rosinstall file in ~/tiago_public_ws. Then run the following instruction in order to clone all the required repositories within the workspace:

The tiago_public.rosinstall there is a link to https://raw.githubusercontent.com/pal-robotics/tiago_tutorials/kinetic-devel/tiago_public-melodic.rosinstall.

To download that file would be no different from how you'd download it on Windows or OSX: right click the link and select Save as. Then select your workspace as instructed in the tutorial.

Alternatively, you could use a command like the following to download it using wget:

wget https://raw.githubusercontent.com/pal-robotics/tiago_tutorials/kinetic-devel/tiago_public-melodic.rosinstall -O $HOME/tiago_public_ws  that would immediately place the downloaded file in the tiago_public_ws directory in your $HOME directory.

The text you quote actually contains a link to the file that the author wants you to download:

Download the file tiago_public.rosinstall. Copy the rosinstall file in ~/tiago_public_ws. Then run the following instruction in order to clone all the required repositories within the workspace:

The tiago_public.rosinstall there is a link to https://raw.githubusercontent.com/pal-robotics/tiago_tutorials/kinetic-devel/tiago_public-melodic.rosinstall.

Alternatively, you could use a command like the following to download it using wget:

wget https://raw.githubusercontent.com/pal-robotics/tiago_tutorials/kinetic-devel/tiago_public-melodic.rosinstall -O $HOME/tiago_public_ws  that would immediately place the downloaded file in the tiago_public_ws directory in your $HOME directory.

The text you quote actually contains a link to the file that the author wants you to download:

Download the file tiago_public.rosinstall. Copy the rosinstall file in ~/tiago_public_ws. Then run the following instruction in order to clone all the required repositories within the workspace:

The tiago_public.rosinstall there is a link to https://raw.githubusercontent.com/pal-robotics/tiago_tutorials/kinetic-devel/tiago_public-melodic.rosinstall.

Alternatively, you could use a command like the following to download it using wget:
wget https://raw.githubusercontent.com/pal-robotics/tiago_tutorials/kinetic-devel/tiago_public-melodic.rosinstall -O $HOME/tiago_public_ws$HOME/tiago_public_ws/

that would immediately place the downloaded file in the tiago_public_ws directory in your \$HOME directory.