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You do need to have ros-groovy-urdfdom

sudo apt-get install ros-groovy-urdfdom

Than you just need to execute

rosrun urdfdom check_urdf my_urdf.xml

You do need to have ros-groovy-urdfdom

sudo apt-get install ros-groovy-urdfdom

Than you just need to execute

rosrun urdfdom check_urdf my_urdf.xml

you dont need the urdfdom_model

click to hide/show revision 3
just added the graphiz line code

You do need to have ros-groovy-urdfdom

sudo apt-get install ros-groovy-urdfdom

Than you just need to execute

rosrun urdfdom check_urdf my_urdf.xml

you dont need the urdfdom_model

And finally, when you are going to convert it to pdf, you do

rosrun urdfdom urdf_to_graphiz my_urdf.xml