rworldmap can be installed from CRAN from within R by typing : install.packages("rworldmap", dependencies = TRUE)
Alternatively rworldmap can be downloaded from : http://cran.r-project.org/web/packages/rworldmap/index.html
As a third option, the source package for the current release version of rworldmap can also be downloaded from the 'Downloads' page and then installed from the R console using Packages, 'Install packages from local zip file'.