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You can use rosrun urdfdom check_urdf [YOUR_FILE].

You can use rosrun urdfdom check_urdf [YOUR_FILE].

EDIT 1:

This is from the tutorial:

  $ rosmake urdfdom_model              # only needed if installed from source
  $ rosrun urdf check_urdf my_robot.urdf  # older versions
  $ rosrun urdf_parser check_urdf my_robot.urdf # electric and fuerte
  $ rosrun urdfdom check_urdf my_robot.urdf # groovy
  $
  $ ## see footnote at bottom of page for why above commands are different

Check what distro you are using.

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