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running rviz on the TK1 is not recommended. You should have a separate machine for running visualization.

This looks like rviz is segfaulting. There are few things you can try to isolate the problem:

• Run your command by itself, instead of within a launch file. You'll get more descriptive error messages.
• You're using rqt_rviz instead of rviz. Try running your config file with rviz
• If both of those work, run rviz with the default config, and add the items from your config individually. If adding a particular display causes rviz to crash, then you know the problem is with that display.