I had this error in an unsupported CPU on VMWare 6.7 and apparently this sometimes works especially on older VMWare versions like 6.5 5.5 etc (but in my case it did not).
See an example below:
Usually it will get you past the mentioned screen but may fail with other errors such as an Unsupported CPU.
In the case your computer/server/CPU is supported and this is just a bug you will be able to complete the install. But you'll want to make the boot option above permanent as each time you'll need to manually specify ignoreHeadless=TRUE or you won't be able to boot.
Enable SSH on the ESXi host, login and type the following command to make it permanent:
[root@localhost:~] esxcfg-advcfg -k TRUE ignoreHeadless