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You can also use the "package://" syntax in URDF files, where a filename is required.

For example, the file

pr2_description/urdf/tilting_laser_v0/tilting_laser.urdf.xacro

contains the line:

<mesh filename="package://pr2_description/meshes/tilting_laser_v0/tilting_hokuyo.dae" />

This also works for the texture tag, which also needs a filename. I guess that internally, the resource_retriever package mentioned by Patrick is used. However, I cannot find any documentation on this.