kdl_parser/collada_parser/collada_parser_plugin_description.xml

<library path="lib/libcollada_parser_plugin">
  <class name="urdf/ColladaURDFParser" type="urdf::ColladaURDFParser" base_class_type="urdf::URDFParser">
    <description>
      Parse models as URDF from Collada files.
    </description>
  </class>
</library>