hector indoor_slam_demo.launch failure

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Greetings, I am in process of establishing hector_quadrotor simulation environment. Environment: Ubuntu Lucid, ROS Fuerte, hector_Slam stack from http://tu-darmstadt-ros-pkg.googlecode.com/svn/branches/fuerte . ROS Fuerte is installed using deb packages for Ubuntu. ros-fuerte-simulator-gazebo version 1.6.10-s134161751 is being used. After successfully compiling the various required packages, on launching, gazebo always dies! Following is the terminal output:

setting /run_id to f53a5b3c-cf58-11e1-b399-3cd92b6407b7
process[rosout-1]: started with pid [6513]
started core service [/rosout]
process[gazebo-2]: started with pid [6527]
process[gazebo_gui-3]: started with pid [6536]
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

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

process[spawn_robot-4]: started with pid [6540]
process[robot_state_publisher-5]: started with pid [6549]
Msg Waiting for master.process[ground_truth_to_tf-6]: started with pid [6580]
[ WARN] [1342451678.877397996]: The root link base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia.  As a workaround, you can add an extra dummy link to your URDF.
Msg Waiting for master
Msg Connected to gazebo master @ http://localhost:11345
[ INFO] [1342451678.900291126]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
process[hector_mapping-7]: started with pid [6623]
X Error of failed request:  BadDrawable (invalid Pixmap or Window parameter)
  Major opcode of failed request:  55 (X_CreateGC)
  Resource id in failed request:  0x4800002
  Serial number of failed request:  28
  Current serial number in output stream:  30
process[hector_trajectory_server-8]: started with pid [6658]
process[hector_geotiff_node-9]: started with pid [6723]
HectorSM map lvl 0: cellLength: 0.05 res x:2048 res y: 2048
HectorSM map lvl 1: cellLength: 0.1 res x:1024 res y: 1024
process[rviz-10]: started with pid [6747]
[ INFO] [1342451679.049206663]: No plugins loaded for geotiff node
[ INFO] [1342451679.049303993]: Geotiff node started
[ INFO] [1342451679.062075923]: HectorSM p_base_frame_: base_footprint
[ INFO] [1342451679.062154478]: HectorSM p_map_frame_: map
[ INFO] [1342451679.062172643]: HectorSM p_odom_frame_: nav
[ INFO] [1342451679.062196388]: HectorSM p_scan_topic_: scan
[ INFO] [1342451679.062215026]: HectorSM p_use_tf_scan_transformation_: true
[ INFO] [1342451679.062233934]: HectorSM p_pub_map_odom_transform_: true
[ INFO] [1342451679.062255121]: HectorSM p_scan_subscriber_queue_size_: 5
[ INFO] [1342451679.062276856]: HectorSM p_map_pub_period_: 2.000000
[ INFO] [1342451679.062296779]: HectorSM p_update_factor_free_: 0.400000
[ INFO] [1342451679.062316553]: HectorSM p_update_factor_occupied_: 0.900000
[ INFO] [1342451679.062335595]: HectorSM p_map_update_distance_threshold_: 0.400000 
[ INFO] [1342451679.062354975]: HectorSM p_map_update_angle_threshold_: 0.060000
[ INFO] [1342451679.062376253]: HectorSM p_laser_z_min_value_: -1.000000
[ INFO] [1342451679.062395483]: HectorSM p_laser_z_max_value_: 1.000000
loading model xml from ros parameter

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:  6539 Segmentation fault      `rospack find gazebo`/gazebo/bin/gzclient -g `rospack find gazebo`/lib/libgazebo_ros_paths_plugin.so
[gazebo_gui-3] process has died [pid 6536, exit code 139, cmd /opt/ros/fuerte/stacks/simulator_gazebo/gazebo/scripts/gui __name:=gazebo_gui __log:=/home/nitin/.ros/log ...