It seems to be possible to highlight URLs in urxvt and to open them in a browser with a mouse event similar to the terminal emulators the big desktop environments use.
This is possible via various perl extensions (
see man 3 urxvtperl). I use the following in ~/.Xdefaults and make use of the settings on X start via xrdb -merge ~/.Xdefaults but you can also use them by executing urxvt with the
-pi option.
URxvt.perl-ext-common: default,matcher
URxvt.urlLauncher: opera
URxvt.colorUL: #86a2be
URxvt.perl-ext-common: default,matcher enables the string matcher extension and default turns on a set of default configuration values.
The mouse button to open the URL can be specified via URxvt.matcher.button: (by default it's the middle mouse button). You can also specify your own sets of regular expressions to match any string in the terminal and specify different launcher events for each of them. I didn't see this before as I switched from
aterm to
rxvt-unicode because aterm is not maintained upstream anymore, has quite a few bugs, urxvt has unicode support and the command line options of aterm are a subset of urxvt's