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Not able to run "roslaunch atlas_utils atlas.launch" following drcsim installation

I recently installed drcsim following the instructions here: http://gazebosim.org/wiki/DRC/UserGuide#Installation.

After I "source /usr/share/drcsim/setup.sh," and enter "roslaunch atlas_utils atlas.launch" I get the following errors:

"process[multisense_sl/camera/stereo_proc-6]: started with pid [2529] Error [Connection.cc:518] Connection[0] Closed during Read Error [ConnectionManager.cc:137] Unable to read from master [gazebo-2] process has finished cleanly"

The Gazebo display window does not open.

I have the following processor: Intel® Core™ i7-3770 CPU @ 3.40GHz × 8 and graphics driver: VESA: FGL TURKS, on Ubuntu 12.04 LTS.

In addition, when I try to run gazebo, I get the following error: "Connection Manager is not running." Again, the Gazebo display window does not open.

Do you know if my problem is graphics driver-based or Gazebo installation-based? What should I do in order to actually use Gazebo?

Thank you very much for your help!