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I finally found the solution to this problem.

The solution is to use the Xvfb with some specific parameters.

First, install Xvfb

sudo apt-get install xvfb

Then, start xvfb with the following parameters:

Xvfb -shmem -screen 0 1280x1024x24

Finally, launch gzserver exporting the DISPLAY to the one created by xvfb:

DISPLAY=:0 gzserver <your options here>

And that is all! Happy remote simulation!