Warning
This package targets ROS2 Humble onwards. It won't compile on all ROS1 and older ROS2 distros.
Note
Instructions here assume that you have and are in a ROS2 workspace's root directory.
In your ROS2 workspace, clone the repository, install the dependencies and build it:
git clone https://github.com/ros-sports/ipm.git src/ipm
rosdep install --from-paths src --ignore-src -r -y
colcon build