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This is a total guess, but I experienced similar crashes with MoveIt on various machines and it turned out to be RViz rather than MoveIt that is crashing. This seems to happen more often when RViz is trying to use hardware acceleration, so try turning telling RViz to use software rendering only before launching the PR2 MoveIt demo file like this:

$ export LIBGL_ALWAYS_SOFTWARE=1
$ roslaunch pr2_moveit_config demo.launch

--patrick

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