I had this same problem on a completely different machine (my OLPC XO
with a 2.6.25 kernel) but I figured it wouldn't hurt to add the fix that
worked for me. I did a: "sudo insmod l2cap.ko" and "sudo insmod
rfcomm.ko". This was after having compiled those modules myself - I'm
not sure they will be readily available on your 2.6.31-10-generic
kernel.

Anyway, after inserting those modules, "lsmod" showed that they had
successfully loaded, and everything worked as expected.

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Failed to connect to SDP server
https://bugs.launchpad.net/bugs/434365
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