I was seeing the same error every time on startup after I upgraded to Gutsy 
tribe 5, plus a few extra things like the floppy drive wasn't being picked up. 
I tried playing around with the boot process order, and found that having the 
dbus daemon launch before hald made the warning disappear, but don't know 
nearly enough to know if this will have any unwanted repercussions. 
So if you want to get rid of the problem, use update-rc.d to change to boot 
process order, but use this at your own risk...

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failed to initialize HAL! (Gutsy 2007-07-18 i386)
https://bugs.launchpad.net/bugs/126810
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