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Hi, I had the same problem :)

I think the problem is in video drivers, I use default ubuntu video driver nouveau.

Try to add export LIBGL_ALWAYS_SOFTWARE=1 before launching gazebo simulation, or you may add this line to you ~/.bashrc (or similar) file.

look this comment

Ubuntu 14.04, Gazebo 2.2.3, ROS Indigo, GeForce GT 650M