You can download ready-to-use packages including binaries for OS X, Linux and Windows in various formats of the latest release.
The only requirement for building tusd is Go. Currently only Go 1.12 and 1.13 is tested and supported and in the future only the two latest major releases will be supported. If you meet this criteria, you can clone the git repository, install the remaining dependencies and build the binary:
git clone git@github.com:tus/tusd.git
cd tusd
go build -o tusd cmd/tusd/main.go