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To mofidy a file in in opt/... you need to be a super user. Meaning, you have to use sudo gedit in the terminal to edit the file (that if you are using gedit).

Now I would personally advise you NOT TO DO THIS! You don't want to change those important files. To view the urdf of R2D2 if I recall correctly you had to give the name of the urdf as argument at some point. You should save your URDF anywhere on your computer and give the absolute path to your URDF as argument. Like /home/yourname/robot.urdf

You could as well just copy the urdf tutorial files somewhere else in your catkin workspace and use those new files to load your urdf.

Go have a look to the super user authorization rules and stuff under linux environnement you will understand why you can't modify those files in stack.