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The launch file syntax in that tutorial looks wrong to me. Try this:

<?xml version="1.0"?>
<launch>
    <rosparam param="/robot_description" command="load" file="$(find your_package_name)/path/to/your/file.urdf"/>
    <!-- The rest of your launch configuration -->
</launch>

The launch file syntax in that tutorial looks wrong to me. Try this:

<?xml version="1.0"?>
<launch>
    <rosparam param="/robot_description" command="load" file="$(find <param name="/robot_description" textfile="$(find your_package_name)/path/to/your/file.urdf"/>
    <!-- The rest of your launch configuration -->
</launch>