Crash when starting depth camera

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Hi There,

I'm experimenting with the 1.3 release of Gazebo that has just been included with Ros Groovy. I am attempting to run a simulation of the new kobuki based turtlebot. What I am finding is that with a little experimentation I have gotten the model to launch, but the simulator appears to crash when generating the depth camera for the Kinect sensor.

Warning [parser.cc:499] XML Attribute[range] in element[attenuation] not defined in SDF, ignoring.
Warning [parser.cc:499] XML Attribute[xyz] in element[direction] not defined in SDF, ignoring.
[New Thread 0x7fffdae56700 (LWP 10220)]
[New Thread 0x7fffda655700 (LWP 10221)]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[New Thread 0x7fffd9e54700 (LWP 10223)]
[New Thread 0x7fffd9653700 (LWP 10224)]
[New Thread 0x7fffd8e52700 (LWP 10225)]
[New Thread 0x7fffc3fff700 (LWP 10232)]
[New Thread 0x7fffc37fe700 (LWP 10233)]
[New Thread 0x7fffc2ffd700 (LWP 10234)]
[ INFO] [1359430250.570906834]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
Msg Waiting for master
Msg Connected to gazebo master @ http://127.0.0.1:11345
Msg Publicized address: 129.96.183.176
Error [Rendering.cc:37] Failed to load the Rendering engine subsystem
unable to find OpenGL rendering system. OGRE is probably installed incorrectly. Double check the OGRE cmake output, and make sure OpenGL is enabled.
[New Thread 0x7fffc16fc700 (LWP 10266)]
[New Thread 0x7fffc0efb700 (LWP 10267)]
[New Thread 0x7fffabfff700 (LWP 10274)]
Warning [parser.cc:377] SDF has no <sdf> element in file[data-string]
Dbg [base_footprint] has no parent joint
Warning [parser.cc:314] parse from urdf.

Program received signal SIGSEGV, Segmentation fault.
0x00007ffff55f9838 in std::basic_string<char, std::char_traits<char="">, std::allocator<char> >::basic_string(std::string const&) () from /usr/lib/x86_64-linux-gnu/libstdc++.so.6
(gdb) bt
#0  0x00007ffff55f9838 in std::basic_string<char, std::char_traits<char="">, std::allocator<char> >::basic_string(std::string const&) () from /usr/lib/x86_64-linux-gnu/libstdc++.so.6
#1  0x00007ffff2048da4 in gazebo::rendering::Scene::CreateDepthCamera(std::string const&, bool) () from /opt/ros/groovy/stacks/simulator_gazebo/gazebo/gazebo/lib/libgazebo_rendering.so.1
#2  0x00007ffff6b77eac in gazebo::sensors::DepthCameraSensor::Init() () from /opt/ros/groovy/stacks/simulator_gazebo/gazebo/gazebo/lib/libgazebo_sensors.so.1
#3  0x00007ffff6b8d468 in gazebo::sensors::SensorManager::Update(bool) () from /opt/ros/groovy/stacks/simulator_gazebo/gazebo/gazebo/lib/libgazebo_sensors.so.1
#4  0x000000000042811f in gazebo::Server::Run() ()
#5  0x00000000004247af in main ()
(gdb) 

Commenting out the Kinect sensor in the robot description allows the simulation to launch.

[New Thread 0x7fffdae56700 (LWP 11532)]
[New Thread 0x7fffda655700 (LWP 11533)]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[New Thread 0x7fffd9e54700 (LWP 11535)]
[New Thread 0x7fffd9653700 (LWP 11536)]
[New Thread 0x7fffd8e52700 (LWP 11537)]
[New Thread 0x7fffc3fff700 (LWP 11544)]
[New Thread 0x7fffc37fe700 (LWP 11545)]
[New Thread 0x7fffc2ffd700 (LWP 11546)]
[ INFO] [1359430908.947420043]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
Msg Waiting for master
Msg Connected to gazebo master @ http://127.0.0.1:11345
Msg Publicized address: 129.96.183.176
Error [Rendering.cc:37] Failed to load the Rendering engine subsystem
unable to find OpenGL rendering system. OGRE is probably installed incorrectly. Double check the OGRE cmake ...