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Found a solution -- It was to restart my computer!

I think the graphics card was acting up. I noticed an error in the console that was running rviz:

NVIDIA: API mismatch: the NVIDIA kernel module has version 304.125, but this NVIDIA driver component has version 304.131. Please make sure that the kernel module and all NVIDIA driver components have the same version.

I reinstalled the graphics card driver with

$ sudo apt-get install nvidia-304

Then restarted.

I'm not sure which action solved my problem, but rviz is working now.