Executing Selenium HTML Test Suite in Jenkins is not able to launch on firefox
Before I invoke, Selenium RC, I have added one more command to export display, with this I am able to run selenium RC from Jenkins
Command I executed is
export DISPLAY=:0;
You might want to prepare a profile for Selenium in Firefox: see if this can help (the answer is not marked as answered but the OP posted his solution.
In our Jenkins implementation, we use Xvfb as a headless X server for Firefox to run in. You can see details of our implementation here http://www.hiringthing.com/2012/04/13/automated-ui-testing-with-jenkins-selenium.html