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I have had better success using Parallels for RVIZ. Parallels supports OpenGL acceleration in the virtual machine, and has worked with RVIZ in the past.

On older versions of Parallels (5), there was a slight workaround because Parallels Tools didn't get OpenGL properly working. I believe that it was due to a library being incorrectly installed. This workaround only works if you currently have NO openGL acceleration (For example, Compiz doesn't work).

Open terminal: sudo gedit /etc/ld.so.conf.d/GL.conf
In Gedit: delete "mesa"
Line should read: /usr/lib/
Save and Close
Reboot

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