I'm not sure whether I got that exact message, but I do sometimes have trouble getting out of park. It's all about the timing between inserting the key and changing gears.
I have found that once the car gets confused about leaving Park for Drive, it simply will not work. I have to physically remove the key and start over. Now that I've experienced this a few times and tried everything I could think of with the brake pedal and emergency brake, I've decided that it's fastest to just remove the key and try again from the beginning.
I realize that this does not bode well for a firmware fix, because my behavior works around the flaw and thus I won't be able to reproduce it for Tesla engineers to see. In some respects, I suppose I should try to write a script for how to reproduce this confusion in the Roadster 2.5 and then hand over my notes to Tesla. I'm sure they could fix what I'm seeing if they tried.