First of all, I would make sure you downloaded the latest release. Details for installation of MRIcroGL are in the Wiki. It links to the troubleshooting page that describes your issue. You will need hardware that supports OpenGL 2.1 (released in 2006). You can check your OpenGL support with the command line tool glxinfo. Note that a (crippled) version of FSLeyes runs using OpenGL 1.4. So that might be your best bet if you do not have a modern graphics card. You can also use MRIcron which does not require OpenGL at all, though note that it can not provide interactive volume rendering.