ROS Stage in Fuerte on 12.04: Stage controller tutorial only for 3.x.x

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Is there a way to get the controller tutorial working for ROS Stage 4.x.x? I ran into the following problems when attempting to get the tutorial working though it is not meant for my version of Stage. Link to tutorial here

First Error:

paresh@paresh-9:~/ros_workspace$ rosrun stage stageros `rospack find stage_controllers`/world/roomba-wander.world

 [Loading /home/paresh/ros_workspace/stage_controllers/world/roomba-wander.world][Image "bitmaps/roomba-stage.png"]
err: Model type laser not found in model typetable (/tmp/buildd/ros-fuerte-stage-1.6.6/debian/ros-fuerte-stage/opt/ros/fuerte/stacks/stage/build/stage/libstage/world.cc CreateModel)
err: Unknown model type laser in world file. (/tmp/buildd/ros-fuerte-stage-1.6.6/debian/ros-fuerte-stage/opt/ros/fuerte/stacks/stage/build/stage/libstage/world.cc CreateModel)

Fix: roomba-wander.world: ln35 col18: laser to ranger

Second Error:

paresh@paresh-9:~/ros_workspace$ rosrun stage stageros `rospack find stage_controllers`/world/roomba-wander.world
 [Loading /home/paresh/ros_workspace/stage_controllers/world/roomba-wander.world][Image "bitmaps/roomba-stage.png"]warn: lookup of model name roomba.ranger:1: no matching name (/tmp/buildd/ros-fuerte-stage-1.6.6/debian/ros-fuerte-stage/opt/ros/fuerte/stacks/stage/build/stage/libstage/world.cc GetModel)
warn: Model roomba.ranger:1 not found (/tmp/buildd/ros-fuerte-stage-1.6.6/debian/ros-fuerte-stage/opt/ros/fuerte/stacks/stage/build/stage/libstage/model.cc GetChild)
Segmentation fault (core dumped)

I don't know how to fix the second error. Any information would help.