UPDATE:

Well, solved may be a bit strong. The error messages still appear during 
start up and periodically it won't keep the axis window displayed. However, 
in googling the error "libGL error: No matching fbConfigs or visuals found" 
for the Mac, I found out that it appears to be common on the Mac when using 
axis. I have found no known solutions at the moment to cure the problem. 
For awhile I could reboot the BBB and then it would work the first time 
after rebooting, but now it is back to being tempermental. 

However, it appears that it is a Mac related problem (related to openGL and 
XWindows) rather than BBB or Machinekit. People running Linuxcnc with Axis 
have reported the same problem when accessing via ssh.

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