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I have had the same problem on two separate ubuntu 16 computers. The solution to this problem is related to the answer given in gazebo-client-on-debian-crashes-at-startup/.
That is the culprit here is libqwt. Here are the steps I took to get it working.
After building and install gazebo I checked what libraries are linked to gazebo:
PATH_TO_GAZEBO_INSTALL/lib$ ldd * | grep libqwt
libqwt-qt5.so.6 => /usr/lib/libqwt-qt5.so.6 (0x00007ffac85df000)
libqwt-qt5.so.6 => /usr/lib/libqwt-qt5.so.6 (0x00007ff565b6b000)
libqwt-qt5.so.6 => /usr/lib/libqwt-qt5.so.6 (0x00007fa1c1724000)
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