Currently source-based installation is provided.
First of all open a terminal and create an empty workspace:
mkdir ~/pmb2_public_ws cd ~/pmb2_public_ws
Download the pmb2_public.rosinstall and copy it in ~/pmb2_public_ws. Then run the following instruction in order to clone all the required repositories within the workspace:
cd ~/pmb2_public_ws rosinstall src /opt/ros/melodic pmb2_public.rosinstall
Then run this command to make sure that all dependencies are installed.
sudo rosdep init rosdep update
Then you may run the following instruction to make sure that all dependencies referenced in the workspace are installed
rosdep install --from-paths src --ignore-src --rosdistro melodic --skip-keys "pal_gazebo_plugins speed_limit_node sensor_to_cloud pmb2_rgbd_sensors pal_vo_server pal_karto pal_usb_utils pal_local_planner pal_filters hokuyo_node rrbot_launch robot_pose pal_pcl rviz_plugin_covariance pal-orbbec-openni2 slam_toolbox"
Then, you may proceed building the workspace:
source /opt/ros/melodic/setup.bash catkin build
Once you compiled all packages and source the environment (source ~/pmb2_public_ws/devel/setup.bash) and it's all ready to go.