I doubt it's completely fixed. I'm running Lucid (upgraded from Karmic)
with hplip 3.10.2-2ubuntu2 and almost all of the files in
/etc/udev/rules.d use SYSFS, thus causing the distracting error messages
at boot time.

An example from file 86-hpmud-hp_laserjet_1020.rules:

# hp_laserjet_1020
SUBSYSTEM=="usb_device", SYSFS{idVendor}=="03f0", SYSFS{idProduct}=="2b17", 
PROGRAM="/bin/sh -c 'X=%k; X=$${X#usbdev}; B=$${X%%%%.*}; D=$${X#*.}; logger -p 
user.info loading hp_laserjet_1020 firmware $$B $$D; printf %%03i:%%03i $$B 
$$D'", RUN+="/bin/sh -c '/usr/bin/hp-firmware -y3 -s%c &'"

** Changed in: hplip (Ubuntu)
       Status: Fix Released => Incomplete

-- 
In Lucid, sysfs[] declarations need to be removed from 56-hpmud_support.rules
https://bugs.launchpad.net/bugs/491346
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