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I use this line on Ubuntu:
fluidsynth -a alsa /usr/share/sounds/sf2/FluidR3_GM.sf2
You have to install fluidsynth and pick a sound font. I tested some of them, FluidR3 was the one that sounded best. I think it comes with soundfont-fluid.
I have to run it again everytime, it has no UI at all, but sounds great, and works like a charm.
