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I believe you have a catkin workspace set up already. If not you can follow this. Once that is done, you can go to the github page for your package. In this case, I believe you are looking for common_msgs.

Open terminal and navigate to src folder in your catkin workspace:

cd ~/catkin_ws/src

Then clone the repository using:

git clone -b <branch> <address>

For example, if you are looking to run it in ros hydro, your command could look like:

 git clone -b hydro-devel https://github.com/ros/common_msgs.git

Once it is completed, do the following:

cd ~/catkin_ws 
catkin_make