xmame.x11 by default (unless otherwise specified on the commandline or configuration file (~/.xmame/xmamerc)) tries to start pacman. If it cannot find the roms you get the error messages you are currently receiving. You can set the rompath either in the configuration file, or with the option -rompath, e.g.:
xmame.x11 -rompath /home/someone/games/mame/roms gradius2
If you want a gui: check x.mame.net; there are many to choose from. Since you refer to the windows version, you might want to look into gxmame, since it is very similar to mame32. I'd love to recommend my own front-end MAMEd, but it's meant for true arcade setups, and will be less familiar to you in its use.
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