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The answer by @johnconn is valid, but it is missing joint_state_publisher_gui and joint_state_publisher which you may need.

Unfortunately, urdf_tutorial is not available as a Debian package, but you can install it from ros2 branch:
https://github.com/ros/urdf_tutorial/tree/ros2

# Source ROS2 environment
git clone -b ros2 https://github.com/ros/urdf_tutorial.git src/urdf_tutorial
colcon build --packages-select urdf_tutorial

# You may need to install `joint-state-publisher`
sudo apt install ros-foxy-joint-state-publisher-gui os-foxy-joint-state-publisher

And use it as:

ros2 launch urdf_tutorial display.launch.py model:=/path/to/your/urdf

You can also copy the launch file in your package:
https://github.com/ros/urdf_tutorial/blob/ros2/launch/display.launch.py