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It actually has checked your urdf in a way:

Error:   Error reading end tag.

the error message is a bit terse, but we see this in your joint6:

<joint name="joint6" type="continuous">
    </parent link="base_link"/>
    <child link="camera_link">
</joint>

Note </parent link="base_link"/> and <child link="camera_link">.

The first starts with </ which is invalid, and the second ends with > but has no child elements, nor a closing </child>.

This is not valid XML, hence the error message.

It actually has checked your urdf in a way:

Error:   Error reading end tag.

the error message is a bit terse, but we see this in your joint6:

<joint name="joint6" type="continuous">
    </parent link="base_link"/>
    <child link="camera_link">
</joint>

Note </parent link="base_link"/> and <child link="camera_link">.

The first starts with </ which is invalid, and the second ends with > but has no child elements, nor a closing </child>.

This is not valid XML, hence the error message.