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This package needs to be built from source. Refer to this tutorial:

http://wiki.ros.org/ROSberryPi/Installing%20ROS%20Indigo%20on%20Raspberry%20Pi

For example,

$ cd ~/ros_catkin_ws/external_src

$ sudo apt-get install libboost-test-dev libtinyxml-dev

$ git clone https://github.com/ros/urdfdom.git

$ cd urdfdom

$ cmake .

$ sudo checkinstall make install

Hope this helps you

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