IDS = Intrusion Detection system:
There are many forms of IDS. Network IDS and Host IDS are the example.
Network IDS will Generally Capture all Traffic on the network
Host will Capture Traffic for Individual Host
IDS detects attempted attacks using Signature and Patterns much like an Anti Virus App will.
Anti Virus:
They will capture attempted Infections of Files or email, the general infection will be a Trojan and/or Virus/Malware.
Firewall:
Not limited to a Perimeter of a Network, Firewalls can be Sophisticated.
Firewall will scan TCP/IP packets based on Source and Destination then check again a list ( ACL ) and block/Allow traffic accordingly, some firewalls can provide Layer 7 Traffic Scanning ( Deep Packet Inspection) for instance rules can be setup for Applications.
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