Its most likely that your Jenkins user does not have an X session to run firefox in.
You can use something like Xvfb which is a virtual frame buffer How do I run Selenium in Xvfb?
Alternatively you could use phantomjs/ghostdriver which is a totally headless webdriver for selenium https://github.com/detro/ghostdriver - so you don't need any X at all.
I personally run a selenium hub and connect various drivers to it for different browsers. These drivers can be on different machines and platforms so you can fully test different configurations