when i execute the command check_urdf i get error like: Error document empty. at line 72 in /build/buildd/urdfdom-0.2.10+dfsg/urdf_parser/src/model.cpp

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it's not working because of the path error, if you are on Linux, just write check_urdf and drag your file in the terminal.it will automatically detect the full path to your URDF file. Something similar to mentioned in the quotation marks below will appear.

"check_urdf '/home/mike/catkin_ws/src/ros_robotics/urdf/dd_robot6.urdf'"

here ff_robot is the name of my URDF file.ros_robotics is my project/package name.

You can run check_urdf /home/<user_name>/ROS/catkin_ws/src/learning_urdf/urdf/robot.urdf to parse your file. Path of your urdf file should be supplied or you should be in the same directory before running check_urdf.