I can only guess that you have an old version of the kernel, or one of the required libraries. Try updating your linux installation (e.g. to a 3.5.x kernel or thereabouts).
I had no problem completing the steps you took.
If you are looking for example programs, you can always look at the simpler tools.
On my ubuntu box I'd do e.g.
sudo apt-get build-dep bluez-tools
apt-get source --compile bluez-tools
which gets all build dependencies, sources and builds the bluez-tools
package on your system.