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I am doing this tutorial

One of the instructions is to run:

roslaunch urdf_sim_tutorial gazebo.launch

However I do not have urdf_sim_tutorial package.

That seems like an omission from the tutorial (and would be nice if you could correct it).

I tried to install it, but it failed:

~$ sudo apt-get install ros-indigo-urdf_sim_tutorial

That is almost correct: underscores (_) in ROS package names are replaced with dashes (-) in Debian/Ubuntu package names. The following should work:

sudo apt-get install ros-indigo-urdf-sim-tutorial