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Basically, glc is just used for documentation process and you can ignore by uncommenting

<rosdep name="glc" />

from jsk_tools/manifest.xml.

It would help me to fix the problem if you can send me following information

lucid-amd64 $ echo $PATH
lucid-amd64 $ echo $LD_LIBRARY_PATH

lucid-amd64 $ ls -al /usr/lib32/ 
lrwxrwxrwx 1 root root 15 2012-02-01 17:46 /usr/lib32/ -> mesa/
lucid-amd64 $ locate