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Have the same problem, tried it twice (I copied the utils.h file the 2nd time in the urdf_model folder). Didn't work...Hope someone comes up with a solution...I guess the "git reset --hard 9aed725" command was wrong...didn't try that without though.

Update: installing the liburdfdom-dev (=liburdfdom-headers-dev) accoding to and NOT using "git reset --hard 9aed725" works!