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Version mismatching between rviz and moveit causes this issues. moveit! rviz plugin is trying to use "Liberation Sans" font but old version of rviz don't have the font in "/opt/ros/kinetic/share/rviz/ogre_media/".

The related rviz commit is here: https://github.com/ros-visualization/rviz/commit/c5c5c1ce4879f343fa5314cc7907eb415f4f4383

After cloning the latest source code and copying Liberation Sans font (all related files) into /opt/ros/kinetic/share/rviz/ogre_media/, It will work.

fonts-liberation package is not the reason of the issue.

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