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I had basically the same issue:

/opt/ros/electric/stacks/robot_model/urdf_parser/bin/check_urdf: error while loading shared libraries: libtinyxml.so.2.5.3: cannot open shared object file: No such file or directory

So I simply ran:

cd /usr/lib cp libtinyxml.so.2.6.2 libtinyxml.so.2.5.3

I don't know much about why the dependencies aren't installing correctly, but that worked for me on Ubuntu 11.04 using Electric

I had basically the same issue:

/opt/ros/electric/stacks/robot_model/urdf_parser/bin/check_urdf: error while loading shared libraries: libtinyxml.so.2.5.3: cannot open shared object file: No such file or directory

So I simply ran:

cd /usr/lib /usr/lib

cp libtinyxml.so.2.6.2 libtinyxml.so.2.5.3

I don't know much about why the dependencies aren't installing correctly, but that worked for me on Ubuntu 11.04 using Electric