/usr/include/urdf_exception/exception.h is in liburdfdom-headers-dev 0.2.3+dfsg-1.
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// URDF exceptions
#ifndef URDF_INTERFACE_EXCEPTION_H_
#define URDF_INTERFACE_EXCEPTION_H_
#include <string>
#include <stdexcept>
namespace urdf
{
class ParseError: public std::runtime_error
{
public:
ParseError(const std::string &error_msg) : std::runtime_error(error_msg) {};
};
}
#endif
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