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You basically have two options:

Install the debian package (Requires sudo rights): sudo apt-get install ros-melodic-urdf-tutorial
Clone the source-code directly into your workspace and then rebuild your workspace. See http://wiki.ros.org/catkin/Tutorials/using_a_workspace as a guide to do this.

If you just want to get urdf_tutorial installed, the first option is probably the better and easier choice.

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