I managed to install FRCSIM in the last few days, and thought I would post some hints.
I am using Linux Mint 17.02 instead of Ubuntu 14.04. Mint 17 is based on Ubuntu 14.04 so it should be compatible, but I find the standard Cinnamon interface much more usable. So far, no problems.
I generally followed the instructions of t.estell above, comment #11.
When you go to compile a C++ model, you may get an error because it can't find the include file for sdformat (sdf.h? might have that wrong). The problem is that the project has the include path set to "/usr/include/sdformat-2.2", but version 2.3 is now installed. To fix it, right click on the project -> Properties. In that dialog go to C/C++ Build -> Settings, tab Tool Settings -> Includes. Select the sdformat entry and edit it to point to 2.3.
I did find that the simulation did not work the first 1-2 times, but seems to be fine after that.
I have not tried a real controller yet, but my computer is probably too slow to really drive the bot around
