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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
/opt/ros/electric/ros/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games
lucid-amd64 $ echo $LD_LIBRARY_PATH

lucid-amd64 $ ls -al /usr/lib32/libGL.so 
lrwxrwxrwx 1 root root 15 2012-02-01 17:46 /usr/lib32/libGL.so -> mesa/libGL.so.1
lucid-amd64 $ locate libGL.so
/usr/lib/libGL.so
/usr/lib/mesa/libGL.so
/usr/lib/mesa/libGL.so.1
/usr/lib/mesa/libGL.so.1.2
/usr/lib32/libGL.so
/usr/lib32/mesa/libGL.so.1
/usr/lib32/mesa/libGL.so.1.2