check urdf to Error reading Attributes.

edit

My URDF file didn't want to check_urdf

rda@rda:~/catkin_ws/src/rb5_robot/urdf$ sudo check_urdf rb5_robot.urdf
Error:   Error reading Attributes.
         at line 100 in /build/urdfdom-VnCcob/urdfdom-1.0.4+ds/urdf_parser/src/model.cpp
ERROR: Model Parsing the xml failed

<?xml version="1.0" ?>

<robot name='rb5'>

  <material name='black'>
    <color rgba='0.0 0.0 0.0 1.0'/>
  </material>

  <material='orange'>
    <color rgba='1.0 0.4 0.0 1.0'/>
  </material>

  <link name='base'>
    <inertial>
      <origin xyz='0 0 0' rpy='0.0 0.0 0.0'/>
      <mass value='0.82'/>
      <inertia ixx='0' ixy='0.0' ixz='0.0' iyy='0' iyz='0.0' izz='0.0'/>
    </inertial>

    <visual>
       <origin xyz='0 0 0' rpy='0 0 0'/>
       <geometry>
           <mash filename='package://rb5//link//RB5_BASE.stl'/>
       </geometry>
       <material name='black'/>
    </visual>

    <collision>
        <origin xyz='0 0 0' rpy='0 0 0'/>
        <geometry>
          <mash filename="package://rb5//link//RB5_BASE.stl"/>
        </geometry>
    </collision>
  </link>

  <link name='link1'>
    <inertial>
      <origin xyz="0 0 0.01" rpy="0.0 0.0 0.0"/>
      <mass value="1.145"/>
      <inertia ixx="0.004" ixy="0.0" ixz="0.0" iyy="0.004" iyz="0.0" izz="0.0"/>
    </inertial>

    <visual>
       <origin xyz="0 0 0.09" rpy="0 0 0"/>
       <geometry>
         <mash filename="package://rb5//link//RB5_LINK1.stl"/>
       </geometry>
       <material name="black"/>
    </visual>

    <collision>
        <origin xyz="0 0 0.09" rpy="0 0 0"/>
        <geometry>
          <mash filename="package://rb5//link//RB5_LINK1.stl"/>
        </geometry>
    </collision>
  </link>

  <link name="link2">
    <inertial>
      <origin xyz="0.0 -0.14 0.37" rpy="90.0 0.0 0.0"/>
      <mass value="3.679"/>
      <inertia ixx="0.122" ixy="0.0" ixz="0.0" iyy="0.121" iyz="0.0" izz="0"/>
    </inertial>

    <visual>
       <origin xyz="0 -0.163 0.07" rpy="0 0 0"/>
       <geometry>
           <mash filename="package://rb5//link//RB5_LINK2.stl"/>
       </geometry>
       <material name="black"/>
     </visual>

     <collision>
        <origin xyz="0 -0.163 0.07" rpy="0 0 0"/>
        <geometry>
          <mash filename="package://rb5//link//RB5_LINK2.stl"/>
        </geometry>
     </collision>
  </link>

  <link name="link3">
    <inertial>
      <origin xyz="0.0 -0.008 0.747" rpy="90.0 0.0 0.0"/>
      <mass value="2.812"/>
      <inertia ixx="0.07" ixy="0.0" ixz="0.0" iyy="0.07" iyz="0.0" izz="0"/>
    </inertial>

    <visual>
       <origin xyz="0 0 0.594" rpy="0 0 0"/>
       <geometry>
         <mash filename="package://rb5//link//RB5_LINK3.stl"/>
       </geometry>
       <material name="black"/>
    </visual>

    <collision>
        <origin xyz="0 0 0.594" rpy="0 0 0"/>
        <geometry>
          <mash filename="package://rb5//link//RB5_LINK3.stl"/>
        </geometry>
    </collision>
  </link>

  <link name="link4">
    <inertial>
      <origin xyz="0 ...