Hi Shai,
This question should be asked in
http://answers.ros.org
Discourse.ros.org is used for news and general discussions.
Please refer to the ROS community support guidelines
http://wiki.ros.org/Support
Potential ROSAnswer related to your question:
http://answers.ros.org/question/261242/how-to-install-urdfdom-on-ros-indigo/?answer=261321#post-id-261321
GitHub Sources for urdfdom:
https://github.com/ros/urdfdom
https://github.com/ros/urdf_parser_py
https://github.com/ros/urdfdom_headers
I have ros-kinetic-urdfdom-py 0.3.3 available in my apt cache, with repo:
deb
http://packages.ros.org/ros/ubuntu xenial main
Run apt update and double-check your sources list.
Cosmo
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