/usr/lib/x86_64-linux-gnu/pkgconfig/urdf.pc is in liburdf-dev 1.12.6-1build3.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
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Name: urdf
Description: Description of urdf
Version: 1.12.6
Cflags:
Libs: -lurdf /usr/lib/x86_64-linux-gnu/liburdfdom_sensor.so /usr/lib/x86_64-linux-gnu/liburdfdom_model_state.so /usr/lib/x86_64-linux-gnu/liburdfdom_model.so /usr/lib/x86_64-linux-gnu/liburdfdom_world.so /usr/lib/x86_64-linux-gnu/libconsole_bridge.so.0.4 /usr/lib/x86_64-linux-gnu/libboost_thread.so /usr/lib/x86_64-linux-gnu/libboost_chrono.so /usr/lib/x86_64-linux-gnu/libboost_system.so /usr/lib/x86_64-linux-gnu/libboost_date_time.so /usr/lib/x86_64-linux-gnu/libboost_atomic.so /usr/lib/x86_64-linux-gnu/libpthread.so
Requires: rosconsole_bridge roscpp
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