Each adaptation of Ramayan has shown Lakshman in a different way, but in all of them he does love Urmila deeply. They both had a deep connection with each other and also their family. They sacrificed their happiness and love to serve the family that was close to their heart.
There is a story in Ananda Ramayana that says that Lakshman refused to marry Urmila initially and told her so, because he was so devoted to Ram all his life and knew he'd not be able to give happiness to his wife. When he told Urmila his fears, she reassured him that she'd never come in the path of his duty and would support all his decisions as long as she was sure of his love. So Lakshman finally agreed to give in to his love and marry her.