"A required CD/DVD drive driver is missing. If you have a driver... blah blah blah"
A few people have had success with turning off the SATA mode in the BIOS for the DVD rom settings, and others have had success with disabling "Legacy IDE mode".
These methods cause the setup to use a different portion of the disk which may or may not work, depending on your luck.
After a bit of searching (and more ISO downloads), I'm afraid to say that the problem is a corrupt ISO image which was burnt to the DVD.
Check the file MD5 hash.
- Windows 7 RC Build 7100 (x86) is 8867C13330F56A93944BCD46DCD73590
- Windows 7 RC Build 7100 (x64) is 98341af35655137966e382c4feaa282d
Re-download the RC from a more reliable source, as Firefox may corrupt the file. BitTorrent or a reliable download manager may work better in this case.