This error eccors if you use screen et cetera and don’t have a terminfo file for urxvt in /usr/share/terminfo/r/, especially if you are ssh’ing into another box. You just need to create a terminfo file named rxvt-unicode in this directory.
More info about terminfo and how to compile it from a source file
Update (09. Oct 2011): Just installed rxvt-unicode on a new netbook and the server complains again:
rxvt-unicode-256colors: unknown terminal type
screen also politely declines to work:
$TERM too long - sorry.
The fix to install rxvt-unicode on the server, add term rxvt-256color in remote .screenrc and urxvt*termName: rxvt-256color in your local .Xdefaults
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