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The urdf of the turtlebot is placed under turtlebot/turtlebot/desription/urdf/. There are different xacro files.

When I remeber correctly the main file is turtlebot.urdf.xacro which includes the other ones (you will see it in the xml code)

You can get help for editing under http://www.ros.org/wiki/urdf. You don't have to build the urdf explicitly it is normally done in the launch file via xacro.