problem with urdfdom pkg

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I use ros-indigo and try to catkin_make my workspace. Here is the result of catkin_make`

Base path: /home/ruinianxu/ws_moveit
Source space: /home/ruinianxu/ws_moveit/src
Build space: /home/ruinianxu/ws_moveit/build
Devel space: /home/ruinianxu/ws_moveit/devel
Install space: /home/ruinianxu/ws_moveit/install
####
#### Running command: "make cmake_check_build_system" in "/home/ruinianxu/ws_moveit/build"
####
-- Using CATKIN_DEVEL_PREFIX: /home/ruinianxu/ws_moveit/devel
-- Using CMAKE_PREFIX_PATH: /opt/ros/indigo
-- This workspace overlays: /opt/ros/indigo
-- Using PYTHON_EXECUTABLE: /usr/bin/python
-- Using Debian Python package layout
-- Using empy: /usr/bin/empy
-- Using CATKIN_ENABLE_TESTING: ON
-- Call enable_testing()
-- Using CATKIN_TEST_RESULTS_DIR: /home/ruinianxu/ws_moveit/build/test_results
-- Found gtest sources under '/usr/src/gtest': gtests will be built
-- Using Python nosetests: /usr/bin/nosetests-2.7
-- catkin 0.6.19
-- BUILD_SHARED_LIBS is on
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- ~~  traversing 26 packages in topological order:
-- ~~  - moveit_planners (metapackage)
-- ~~  - moveit_plugins (metapackage)
-- ~~  - moveit_pr2 (metapackage)
-- ~~  - moveit_resources
-- ~~  - moveit_ros (metapackage)
-- ~~  - pr2_moveit_config
-- ~~  - moveit_msgs
-- ~~  - moveit_core
-- ~~  - moveit_controller_manager_example
-- ~~  - moveit_fake_controller_manager
-- ~~  - moveit_ros_perception
-- ~~  - moveit_ros_planning
-- ~~  - moveit_ros_move_group
-- ~~  - moveit_ros_manipulation
-- ~~  - moveit_ros_robot_interaction
-- ~~  - moveit_simple_controller_manager
-- ~~  - pr2_moveit_plugins
-- ~~  - pr2_moveit_tests
-- ~~  - moveit_ros_warehouse
-- ~~  - moveit_ros_benchmarks
-- ~~  - moveit_ros_planning_interface
-- ~~  - moveit_commander
-- ~~  - moveit_ros_visualization
-- ~~  - moveit_ros_benchmarks_gui
-- ~~  - moveit_setup_assistant
-- ~~  - pr2_moveit_tutorials
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- +++ processing catkin metapackage: 'moveit_planners'
-- ==> add_subdirectory(moveit_planners/moveit_planners)
-- +++ processing catkin metapackage: 'moveit_plugins'
-- ==> add_subdirectory(moveit_plugins/moveit_plugins)
-- +++ processing catkin metapackage: 'moveit_pr2'
-- ==> add_subdirectory(moveit_pr2/moveit_pr2)
-- +++ processing catkin package: 'moveit_resources'
-- ==> add_subdirectory(moveit_resources)
-- +++ processing catkin metapackage: 'moveit_ros'
-- ==> add_subdirectory(moveit_ros/moveit_ros)
-- +++ processing catkin package: 'pr2_moveit_config'
-- ==> add_subdirectory(moveit_pr2/pr2_moveit_config)
-- +++ processing catkin package: 'moveit_msgs'
-- ==> add_subdirectory(moveit_msgs)
-- Using these message generators: gencpp;genlisp;genpy
-- Generating .msg files for action moveit_msgs/MoveGroup /home/ruinianxu/ws_moveit/src/moveit_msgs/action/MoveGroup.action
-- Generating .msg files for action moveit_msgs/Pickup /home/ruinianxu/ws_moveit/src/moveit_msgs/action/Pickup.action
-- Generating .msg files for action moveit_msgs/Place /home/ruinianxu/ws_moveit/src/moveit_msgs/action/Place.action
-- moveit_msgs: 59 messages, 12 services
-- +++ processing catkin package: 'moveit_core'
-- ==> add_subdirectory(moveit_core)
-- Boost version: 1.54.0
-- Found the following Boost libraries:
--   system
--   filesystem
--   date_time
--   thread
--   iostreams
-- Using these message generators: gencpp;genlisp;genpy
CMake Warning at /opt/ros/indigo/share/catkin/cmake/catkinConfig.cmake:76 (find_package):
  Could not find a package configuration file provided by "urdfdom" with any
  of the following names:

    urdfdomConfig.cmake
    urdfdom-config.cmake

  Add the installation prefix of "urdfdom" to CMAKE_PREFIX_PATH or set
  "urdfdom_DIR" to a directory containing one of the above files.  If
  "urdfdom" provides a separate development package or SDK, be sure it has
  been installed.
Call Stack (most recent call first):
  moveit_core/CMakeLists.txt:10 (find_package)


-- Could not find the required component 'urdfdom'. The following CMake error indicates that you either need to install the package with the same name or change your environment so that it can be found.
CMake Error at /opt/ros/indigo/share/catkin/cmake/catkinConfig.cmake:83 (find_package):
  Could not find a package configuration file provided by "urdfdom" with any
  of the following names:

    urdfdomConfig.cmake
    urdfdom-config.cmake

  Add the installation prefix of "urdfdom" to CMAKE_PREFIX_PATH or set
  "urdfdom_DIR" to a directory containing one of the above files.  If
  "urdfdom" provides a separate development package or SDK, be sure it has
  been installed.
Call Stack (most recent call first):
  moveit_core/CMakeLists.txt:10 (find_package)



-- Configuring incomplete, errors occurred!
See also "/home/ruinianxu/ws_moveit/build/CMakeFiles/CMakeOutput.log".
See also "/home/ruinianxu/ws_moveit ...