|You have a computer that has 95 on it and you want to install xp on it now? What kind of specs--cpu, ram, hd size, etc.--does it have.|
Those error messages are because those files for cdrom support are not where they're supposed to be. That won't matter if you plan on doing a fresh install, assuming xp will run on it.
As already mentioned, likely the cd drive or xp cd is dirty or bad.