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Thanks to the post by @Dereck, I worked around this long-persistent issue by the following (not sure what the root cause was though):

$ sudo apt-get purge ros-hydro-* && sudo apt-get autoremove
$ sudo apt-get install ros-hydro-desktop-full

Thanks to the post by @Dereck, I worked around this long-persistent issue by the following (not sure what the root cause was though):

$ sudo apt-get purge ros-hydro-* && sudo apt-get autoremove
$ sudo apt-get install ros-hydro-desktop-full

Update) On another machine I saw this issue again. Strangely enough, the error doesn't happen when RViz is run with gdb.