The gist of this is that the Ubuntu AMI's must use the NETKEY stack and that you must make configuration tweaks to support that. You also need to enable IP forwarding.
You will make these changes using the /etc/sysctl.conf file and the sysctl command. This will cause changes in the proc file system at paths like /proc/sys/net/ipv4/conf/*/send_redirects, but by editing this file, you ensure those changes are reflected on reboot.
Edit /etc/sysctl.conf and add or uncomment the following lines:
net.ipv4.ip_forward=1
net.ipv4.conf.all.accept_redirects = 0
net.ipv4.conf.all.send_redirects = 0
net.ipv4.conf.default.send_redirects = 0
net.ipv4.conf.eth0.send_redirects = 0
net.ipv4.conf.default.accept_redirects = 0
net.ipv4.conf.eth0.accept_redirects = 0
Now use the sysctl command to load your new configuration:
$ sudo sysctl -p /etc/sysctl.conf
If you succeeded, running $ sudo ipsec verify again should show everything [OK].
Hope it could help.