pr2_gazebo crashes on launch [closed]

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If I try to launch PR2 in simulation, e.g. with roslaunch pr2_gazebo pr2_empty_world.launch, it briefly appears but then immediately crashes with the message below. I'm using ROS Electric on Ubuntu 11.10. Is there anything I can change to get it to launch?

[ WARN] [1337341099.631029728, 0.402000000]: You've passed in true for auto_start for the C++ action server at [/head_traj_controller/joint_trajectory_action]. You should always pass in false to avoid race conditions.
[ WARN] [1337341099.637939267, 0.416000000]: You've passed in true for auto_start for the C++ action server at [/head_traj_controller/follow_joint_trajectory]. You should always pass in false to avoid race conditions.
Traceback (most recent call last):
  File "/opt/ros/electric/stacks/pr2_mechanism/pr2_controller_manager/scripts/spawner", line 159, in <module>
    if __name__ == '__main__': main()
  File "/opt/ros/electric/stacks/pr2_mechanism/pr2_controller_manager/scripts/spawner", line 137, in main
    resp = load_controller(name)
  File "/opt/ros/electric/stacks/ros_comm/clients/rospy/src/rospy/impl/tcpros_service.py", line 430, in __call__
    return self.call(*args, **kwds)
  File "/opt/ros/electric/stacks/ros_comm/clients/rospy/src/rospy/impl/tcpros_service.py", line 519, in call
    raise ServiceException("transport error completing service call: %s"%(str(e)))
rospy.service.ServiceException: transport error completing service call: unable to receive data from sender, check sender's logs for details
[WARN] [WallTime: 1337341099.791753] [0.566000] Spawner couldn't reach pr2_controller_manager to take down controllers.
[gazebo-1] process has died [pid 24141, exit code -11].
log files: /home/james/.ros/log/ec82aca0-a0dd-11e1-9d3f-0024e814cae5/gazebo-1*.log
[default_controllers_spawner-22] process has died [pid 24306, exit code 1].
log files: /home/james/.ros/log/ec82aca0-a0dd-11e1-9d3f-0024e814cae5/default_controllers_spawner-22*.log