The following is console output at startup of drcsim on a new 12.04 Ubuntu install. Similar to error I received on Ubuntu 14.04 that led to creating a 12.04 VM to begin with. Used install instructions on wiki.

roslaunch drcsim_gazebo atlas.launch ... logging to /home/aaron/.ros/log/c49c5bd2-0d28-11e4-b6c5-080027fac126/roslaunch-aaron-VirtualBox-2233.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.

the rosdep view is empty: call 'sudo rosdep init' and 'rosdep update' started roslaunch server http://aaron-VirtualBox:33890/

SUMMARY

PARAMETERS * /atlas/delaymaxperstep * /atlas/delaymaxperwindow * /atlas/delaywindowsize * /atlas/timetounpin * /atlascontroller/gains/backlbz/d * /atlascontroller/gains/backlbz/i * /atlascontroller/gains/backlbz/iclamp * /atlascontroller/gains/backlbz/p * /atlascontroller/gains/backmby/d * /atlascontroller/gains/backmby/i * /atlascontroller/gains/backmby/iclamp * /atlascontroller/gains/backmby/p * /atlascontroller/gains/backubx/d * /atlascontroller/gains/backubx/i * /atlascontroller/gains/backubx/iclamp * /atlascontroller/gains/backubx/p * /atlascontroller/gains/larmelx/d * /atlascontroller/gains/larmelx/i * /atlascontroller/gains/larmelx/iclamp * /atlascontroller/gains/larmelx/p * /atlascontroller/gains/larmely/d * /atlascontroller/gains/larmely/i * /atlascontroller/gains/larmely/iclamp * /atlascontroller/gains/larmely/p * /atlascontroller/gains/larmmwx/d * /atlascontroller/gains/larmmwx/i * /atlascontroller/gains/larmmwx/iclamp * /atlascontroller/gains/larmmwx/p * /atlascontroller/gains/larmshx/d * /atlascontroller/gains/larmshx/i * /atlascontroller/gains/larmshx/iclamp * /atlascontroller/gains/larmshx/p * /atlascontroller/gains/larmusy/d * /atlascontroller/gains/larmusy/i * /atlascontroller/gains/larmusy/iclamp * /atlascontroller/gains/larmusy/p * /atlascontroller/gains/larmuwy/d * /atlascontroller/gains/larmuwy/i * /atlascontroller/gains/larmuwy/iclamp * /atlascontroller/gains/larmuwy/p * /atlascontroller/gains/llegkny/d * /atlascontroller/gains/llegkny/i * /atlascontroller/gains/llegkny/iclamp * /atlascontroller/gains/llegkny/p * /atlascontroller/gains/lleglax/d * /atlascontroller/gains/lleglax/i * /atlascontroller/gains/lleglax/iclamp * /atlascontroller/gains/lleglax/p * /atlascontroller/gains/lleglhy/d * /atlascontroller/gains/lleglhy/i * /atlascontroller/gains/lleglhy/iclamp * /atlascontroller/gains/lleglhy/p * /atlascontroller/gains/llegmhx/d * /atlascontroller/gains/llegmhx/i * /atlascontroller/gains/llegmhx/iclamp * /atlascontroller/gains/llegmhx/p * /atlascontroller/gains/lleguay/d * /atlascontroller/gains/lleguay/i * /atlascontroller/gains/lleguay ... (more)