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I believe that this has appeared in the past several times. Let me provide several references, hopefully they can help you:

  • http://answers.gazebosim.org/question/2153/drcsim-cant-figure-out-how-to-run-gazebo-on-remote/
  • http://answers.ros.org/question/9324/run-gazebo-remotely/
  • http://answers.ros.org/question/35013/running-gazebo-headless-in-fuerte-over-ssh