The ROS Wiki is for ROS 1. Are you using ROS 2 (Dashing/Foxy/Rolling)? Check out the ROS 2 Documentation
TODO(eacousineau): Restore package header macro once it is accurate.
Actual documentation is part of urdfdom_py
While the source package is called urdf_parser_py, the documentation actually lives in urdfdom_py.
Wiki: urdf_parser_py (last edited 2018-12-10 00:40:49 by eacousineau)