I want to sum up the comments in an answer now that everything seems to be resolved.
Calls between Firefox and Chrome do work as expected, but Jay was having problems when trying to run Chrome and Firefox on the same computer and make a call. This works on the machines that I have tested, but based on the error pasted in the question, it looks like one of the browsers was failing to acquire the camera; we've occasionally seen issues with the browsers not acquiring/releasing the camera correctly, so that's likely the cause of the problem he was seeing. We will continue to try to reproduce this on different platforms and file a bug with the browsers.
Jay confirmed that calling between two different computers did work correctly.
UPDATE: I was able to reproduce this on Windows. Here's the Firefox bug: https://bugzilla.mozilla.org/show_bug.cgi?id=918938