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According to the exception message, it looks like your graphics driver does not support OpenGL 2.1.

If your graphics card does not support hardware acceleration try the following:

$> export LIBGL_ALWAYS_SOFTWARE=1
$> rosrun rviz rviz

If you are certain that your graphics card does support hardware acceleration, make sure that you have installed the adequate driver (proprietary driver?)

According to the exception message, it looks like your graphics driver does not support OpenGL 2.1.

If your graphics card does not support hardware acceleration try the following:following (rviz might run excruciatingly slow, but at least it should run) :

$> export LIBGL_ALWAYS_SOFTWARE=1
$> rosrun rviz rviz

If you are certain that your graphics card does support hardware acceleration, make sure that you have installed the adequate driver (proprietary driver?)