I have a server, A, that has eclipse, testNG, selenium, and stuff set up on it. I have another server, B, with Bamboo setup on it.
I am able to, on server A, run a test
Try setting the DISPLAY environment variable to ":0" (or whatever the display is on your machine -- you can check by launching a terminal through the GUI and running "echo $DISPLAY"). I can launch firefox over ssh with the following command:
ssh somehost "env DISPLAY=:0 firefox"
But seriously, I second patrungel's suggestion -- use selenium grid / rc. It's designed for this kind of thing.