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This BadDrawable error is generally related to issues with either your GPU being too old or buggy drivers. See the answers to rviz problem with ubuntu 10.04 and rviz crashing at startup with baddrawable. Also see the RViz troubleshooting page.

Since you are only having problems after closing it, I would guess something is leaving your graphics driver in a bad state. Try changing up the RTT mode as referenced in the above answers to see if that fixes things.