I confirm this issue with Ubuntu Hardy 8.04 stable.

However it has nothing to do with yelp, 
instead is related to dhcdbd (I'm with iwlwifi drivers).

This seems only an aesthetic bug since I can connect with wireless and
get IP through dhcp.

Here is the relevant /var/log/messages output:

dhcdbd: message_handler: message handler not found under /com/redhat/dhcp/wlan0 
for sub-path wlan0.dbus.get.host_name
dhcdbd: message_handler: message handler not found under /com/redhat/dhcp/wlan0 
for sub-path wlan0.dbus.get.domain_name
dhcdbd: message_handler: message handler not found under /com/redhat/dhcp/wlan0 
for sub-path wlan0.dbus.get.nis_domain
dhcdbd: message_handler: message handler not found under /com/redhat/dhcp/wlan0 
for sub-path wlan0.dbus.get.nis_servers
dhcdbd: message_handler: message handler not found under /com/redhat/dhcp/wlan0 
for sub-path wlan0.dbus.get.interface_mtu

-- 
dhcdbd: message_handler: message handler not found
https://bugs.launchpad.net/bugs/228707
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