Old, but I'm still experimenting the same issue on Gutsy:

:~$ btsco -v 00:0D:44:3B:F1:1E
btsco v0.42
Device is 2:0
Error: Failed to connect to SDP server: Permission denied
Assuming channel 2

Voice setting: 0x0060
Can't connect RFCOMM channel: Permission denied

My Headset is a Nokia one.

-- 
breezy: cant pair a bt-device
https://bugs.launchpad.net/bugs/23802
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