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I had to use the workaround for getting GLX 1.4 working. Here's a mini-tutorial provided by a X2Go developer:

1. copy build/src/gallium/targets/libgl-xlib to some safe place
2. write a small wrapper called ~/x2goglx with this content:

> #!/bin/sh LD_LIBRARY_PATH=<your directory>/libgl-xlib:${LD_LIBRARY_PATH}
> exec "$@"

Replace <your directory> with the path to where you copied the above directory to

Then

$ chmod u+rx ~/x2goglx

Then test with (should show OpenGL 1.4)

$ ~/x2goglx glxinfo

Then run gazebo:

$ ~/x2goglx gazebo

Still getting the following warnings but at least no more black screen:

[Wrn] [GuiIface.cc:119] X server does not support XInput 2
[Wrn] [GuiIface.cc:119] QXcbConnection: XCB error: 1 (BadRequest), sequence: 168, resource id: 78, major code: 130 (Unknown), minor code: 47
[Wrn] [Publisher.cc:136] Queue limit reached for topic /gazebo/default/physics/contacts, deleting message. This warning is printed only once.