I cannot reproduce that because I can't start orxonox on tardis via the terminal anyway.
But here's what I know:
CEGUI uses an XML parser to read the GUI definitions. There are apparently four parsers:
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$ ls /usr/pack/cegui-0.6.2-sd/amd64-debian-linux5.0/lib/libCEGUI**Parser*.so
In Orxonox we tell CEGUI to use "XercesParser" (see GUIManager.cc line 379).
Apparently this doesn't work (anymore?) because the xerces library cannot be found (and you probably remember that the ISG guy told you that we're using an old and unmaintained version of cegui).
So option a) is to use a different parser. I don't know WHY we force XercesParser in GUIManager.cc, maybe there's a reason but maybe it's just random. Try another parser anyway. I would go with "TinyXMLParser" first.
Option b) is to use another version of CEGUI. Apart from that old version, tardis offers also a newer version of CEGUI (v0.7). I made some attempts to compile with it, but there are several issues. First of all, libCEGUItoluapp.so is missing in the new version. So we'd probably have to compile our own version of CEGUI to make it work.
I guess that we'll go with option b) anyway sooner or later. But until then you can try to make it work with option a).