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I fixed it, thanks for your pointers. This is the solution:

$ rosparam set urdf_xml robot_description
$ rosparam set robot_description /home/wouter/ros_packages/urdf_tools/urdf_tutorial/01-myfirst.urdf
$ rosparam set arm_kinematics/root_name base_link
$ rosparam set arm_kinematics/tip_name base_link
$ rosparam set maxIterations 1000

Before you start arm_kinematics run the following command, because it is necessary load the XML file in to robot_description.

roslaunch urdf_tutorial display.launch model:=01-myfirst.urdf

Thanks for the help.