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Try setting the DISPLAY env variable with the gazebo node

<node name="gazebo" pkg="gazebo_ros" type="$(arg script_type)" respawn="$(arg respawn_gazebo)" output="screen" args="$(arg command_arg1) $(arg command_arg2) $(arg command_arg3) -e $(arg physics) $(arg extra_gazebo_args) $(arg world_name)">
  <env name="DISPLAY" value=":0" />
</node>