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I am having this same issue - Fuerte installed on Ubuntu 12.04 keeps having a segmentation fault when I run:

roslaunch pr2_gazebo pr2_empty_world.launch

I get:

Gazebo multi-robot simulator, version 1.0.2

Copyright (C) 2011 Nate Koenig, John Hsu, Andrew Howard, and contributors.
Released under the Apache 2 License.
http://gazebosim.org

Msg Waiting for master.Msg Waiting for master[ INFO] [ros.roscpp]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...

Msg Connected to gazebo master @ http://localhost:11345
X Error of failed request:  BadRequest (invalid request code or no such operation)
  Major opcode of failed request:  153 (GLX)
  Minor opcode of failed request:  19 (X_GLXQueryServerString)
  Serial number of failed request:  12
  Current serial number in output stream:  12

Msg Connected to gazebo master @ http://localhost:11345
Error [Transport.cc:102] Unable to get topic namespaces in [50] tries.
Error [Node.cc:68] No namespace found
/opt/ros/fuerte/stacks/simulator_gazebo/gazebo/scripts/gui: line 2:  9548 Segmentation fault      (core dumped) `rospack find gazebo`/gazebo/bin/gzclient -g `rospack find gazebo`/lib/libgazebo_ros_paths_plugin.so
[gazebo_gui-2] process has died [pid 9545, exit code 139, cmd /opt/ros/fuerte/stacks/simulator_gazebo/gazebo/scripts/gui __name:=gazebo_gui __log:=/home/dave/.ros/log/806e1d36-13f3-11e2-8ce7-3c075420f805/gazebo_gui-2.log].
log file: /home/dave/.ros/log/806e1d36-13f3-11e2-8ce7-3c075420f805/gazebo_gui-2*.log
^C[gazebo-1] killing on exit
[gazebo-1] escalating to SIGTERM