Error reading end tag - Model parsing the xml failed

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I am working on a sample exercise of creating an arm robot with 3 links and 2 joints, by defining the urdf file. Am also following the tutorial from Mastering ROS for Robotics Programmin by Lentin Joseph. I have the following code

     <?xml version="1.0"?>
    <robot name="pan_tilt">

    <link name="base_link">
    <visual>
        <geometry>
            <cylinder length="0.01" radius="0.2"/>
        </geometry>
        <origin rpy="0 0 0" xyz="0 0 0"/>
        <material name="yellow">
            <color rgba="1 1 0 1"/>
        </material>
    </visual>
</link>

<joint name="pan_joint" type="revolute">
    <parent link="base_link"/>
    <child link="pan_link"/>
    <origin xyz="0 0 0.1"/>
    <axis xyz="0 0 0"/>
</joint>

<link name="pan_link">
    <visual>
        <geometry>
            <cylindder length="0.4" radius="0,04"/>
        </geomtry>
        <origin rpy="0 0 0" xyz="0 0 0.09"/>
        <material name="red">
            <color rgba="0 0 1 1"/>
        </material>
    </visual>
</link>

<joint name="tilt_joint" type="revolute">
    <parent link="pan_link"/>
    <child link="tilt_link"/>
    <origin xyz="0 0 0.2"/>
    <axis xyz="0 1 0"/>
</joint>

<link name="tilt_link">
    <visual>
        <geometry>
            <cylindder length="0.4" radius="0,04"/>
        </geomtry>
        <origin rpy="0 1.5 0" xyz="0 0 0.0"/>
        <material name="green">
            <color rgba="1 0 0 1"/>
        </material>
    </visual>
</link>
</robot>

while running

    check_urdf pan_tilt.urdf

I get the following error :

    Error:   Error reading end tag.
     at line 72 in /build/buildd/urdfdom-0.2.10+dfsg/urdf_parser/src/model.cpp
    ERROR: Model Parsing the xml failed

The code is straight out of the tutorials. Can you please point out where the mistake is?