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Hello !

After deeper investigation, the issue was from an inconsistency in nvidia API :

Error: API mismatch: the NVIDIA kernel module has version xxx.yy.zz, but this NVIDIA driver component has version  xxx.yy.ww.  Please make sure that the kernel module and all NVIDIA driver components have the same version.

The solution is described here : http://askubuntu.com/questions/50469/nvidia-api-mismatch

Now, RViz and Gazebo are working without crashing at first interaction, and models in urdf are displayed correctly in Gazebo.

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