Hi, welcome!
You can do it with this commands
# This is the current download link, this may change in the future so you would have to look for the latest link here https://www.uni-trier.de/index.php?id=59110
url <- "https://www.uni-trier.de/fileadmin/fb6/prof/FER/Downloads/Software/MODISFire/MODISFire_1.0.0.tar.gz"
download.file(url, "MODISFire_1.0.0.tar.gz", method = "curl")
install.packages("rgdal")
install.packages("MODISFire_1.0.0.tar.gz", repos = NULL, type = "source")