Gazebo fails to load

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I've been trying to get ROS and Care-O-Bot installed and running for some time now. I can never get Gazebo to initialize properly. I'm using Ubuntu 10.04, and Fuerte

I start with the instructions here:
http://www.ros.org/wiki/fuerte/Installation/Ubuntu
http://www.ros.org/wiki/Robots/Care-O-bot/fuerte

Then these:
http://www.ros.org/wiki/cob_bringup_sim

I can get through all of the ROS tutorials, so I believe that everything has been done correctly with respect to ROS, but when I run cob_bringup_sim Gazebo fails with the following error:

Error [Plugin.hh:100] Failed to load plugin -1: -1: cannot open shared object file: No such file or directory
Warning [parser.cc:332] Gazebo SDF has no gazebo element
Warning [parser.cc:243] parser for sdf version 1.0 failed, trying to parse as old deprecated format
Segmentation fault

For reference, here is the Gazebo cmd that cob_bringup_sim generates, running this line solo creates the same error:
/opt/ros/fuerte/stacks/simulator_gazebo/gazebo/scripts/gazebo -s -1 /opt/ros/fuerte/stacks/cob_environments/cob_gazebo_worlds/common/worlds/empty.world __name:=gazebo __log:=/home/nathan/.ros/log/58188a6e-bee5-11e1-bd07-f46d0412dc71/gazebo-2.log

No log file is generated, and I can only assume that Gazebo never even attempts to load.