No, jury rig is the original nautical term dating back to at least 1788. The term likely originated from French words either ajurie meaning "help/relief" or jour meaning "a day" and joined with the word rig (relating to the ships rigging).

Jury rig literally meant a temporary fix to the mast to support the rigging.

It was likely corrupted in WW2, and I highly doubt it came from the implication of the Urban Dictionary article. The Germans were incredible engineers, and often over engineered their equipment. Jerry rigging likely meant the work that the allied forces did to use the German equipment as some of the earliest uses seem to stem from the airborne forces dropped behind German lines who were under orders to commandeer their equipment. Jerry rig then likely became the phrase for what you did to fix the equipment the Germans sabotaged during their retreat.

I've never read of the Germans retreating and leaving repaired equipment for the allies, so I'd put a lot of money on that being an absolute bullshit claim.