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I found the issue!

For some reason in ubuntu 20.04, rviz2 does not work in the following BOLDED images does not work get from the command: % ls -l .aderc*

.aderc-amd64-dashing

.aderc-amd64-dashing-lgsvl

.aderc-amd64-foxy

.aderc-amd64-foxy-lgsvl

There is some line missing on .aderc configuration file or Dockerfile when these images are built through the command:

$ade --rc .aderc-amd64-dashing start      or     $ade --rc .aderc-amd64-foxy start

Just the images built with lgsvl simulator have the correct code and configuration files written for ubuntu 20.04 that allows rviz2 works. Then it is required to build ros-distro with the lgsvl internal simulator:

ade --rc .aderc-amd64-dashing-lgsvl start
or 
ade --rc .aderc-amd64-foxy-lgsvl start

In my case I am using foxy as it is the most recent ros distro available for ubuntu 20.04.

There is just one way to make rviz2 work without trigger the lgsvl simulator image. It is setting the --privileged flag to build the images:

ade --rc .aderc-amd64-dashing start --privileged
ade --rc .aderc-amd64-foxy start --privileged 
or just
ade start --privileged

that will start the standard ros-distro image without the lgsvl simulator

However it is not recommended use --privileged flags to run docker for security reasons... This was the way I have worked around to launch rviz2 successfully.