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I think the problem is that you have Assimp 2.0 also on the system. collada_urdf then gets confused because it finds Assimp 2.0 and does not bother to check for Assimp 3.0 which is needed by collada_urdf.

You must remove Assimp 2.0: sudo apt-get remove libassimp2 libassimp-dev

Make sure Assimp 3.0 is installed and the path to the assimp.pc file is listed in your PKG_CONFIG_PATH.

Recompile everything and it should work.

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