VirtualBox:~$ rviz
[ INFO] [1458826436.975227564]: rviz version 1.11.10
[ INFO] [1458826436.975437443]: compiled against OGRE version 1.8.1 (Byatis)
pci id for fd 24: 80ee:beef, driver (null)
OpenGL Warning: glFlushVertexArrayRangeNV not found in mesa table
OpenGL Warning: glVertexArrayRangeNV not found in mesa table
OpenGL Warning: glCombinerInputNV not found in mesa table
OpenGL Warning: glCombinerOutputNV not found in mesa table
OpenGL Warning: glCombinerParameterfNV not found in mesa table
OpenGL Warning: glCombinerParameterfvNV not found in mesa table
OpenGL Warning: glCombinerParameteriNV not found in mesa table
OpenGL Warning: glCombinerParameterivNV not found in mesa table
OpenGL Warning: glFinalCombinerInputNV not found in mesa table
OpenGL Warning: glGetCombinerInputParameterfvNV not found in mesa table
OpenGL Warning: glGetCombinerInputParameterivNV not found in mesa table
OpenGL Warning: glGetCombinerOutputParameterfvNV not found in mesa table
OpenGL Warning: glGetCombinerOutputParameterivNV not found in mesa table
OpenGL Warning: glGetFinalCombinerInputParameterfvNV not found in mesa table
OpenGL Warning: glGetFinalCombinerInputParameterivNV not found in mesa table
OpenGL Warning: glDeleteFencesNV not found in mesa table
OpenGL Warning: glFinishFenceNV not found in mesa table
OpenGL Warning: glGenFencesNV not found in mesa table
OpenGL Warning: glGetFenceivNV not found in mesa table
OpenGL Warning: glIsFenceNV not found in mesa table
OpenGL Warning: glSetFenceNV not found in mesa table
OpenGL Warning: glTestFenceNV not found in mesa table
libGL error: core dri or dri2 extension not found
libGL error: failed to load driver: vboxvideo
[ INFO] [1458826438.108511921]: Stereo is NOT SUPPORTED
[ INFO] [1458826438.110075462]: OpenGl version: 2.1 (GLSL 1.2).
Segmentation fault (core dumped)

启动失败原因是因为虚拟机的OPENGL驱动存在问题，这部分驱动涉及虚拟机的3d加速支持扩展包，暂时没有好的解决办法。通过设置环境变量，强制Rviz使用软件OPRNGL模式，就可以暂时使用Rviz了，指令如下，留意重启控制台使更改生效

echo "export LIBGL_ALWAYS_SOFTWARE=1" >> ~/.bashrc

点击参考这个链接