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Ogre errors are related to your graphics driver/capabilities if I'm not mistaken.

Out of memory in GLHardwareVertexBuffer

That makes me curious what kind of system you're running it on. I remember having issues with RViz2 (in Nav2 specifically) on my laptop if I also had Gazebo running. Eventually I got it working by disabling some of the visual stuff in RViz2 (think global/local costmaps, amcl cloud, sensor pointclouds). I basically overloaded my graphics card.